diff --git a/docs/en/source/4_application_guide/coordinate_and_tf.md b/docs/en/source/4_application_guide/coordinate_and_tf.md
index d5d45662..8c87ed23 100644
--- a/docs/en/source/4_application_guide/coordinate_and_tf.md
+++ b/docs/en/source/4_application_guide/coordinate_and_tf.md
@@ -1,4 +1,28 @@
-## ROS2 Robot Coordinate System vs Camera Optical Coordinate System
+## Coordinate Systems and TF Transforms
+
+### Camera sensor structure
+
+![module in rviz2](../image/application_guide/image3.png)
+
+![module in rviz2](../image/application_guide/image1.png)
+
+### TF from coordinate A to coordinate B:
+
+In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
+
+Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
+
+Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
+
+Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
+
+```bash
+ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
+```
+
+![module in rviz2](../image/application_guide/image2.png)
+
+### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
 
 * Point of View:
   * Imagine standing behind the camera and looking forward.
@@ -332,24 +356,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
 
 - Publishes raw extrinsics via topic for advanced alignment and registration
 
-### Camera sensor structure
-
-![module in rviz2](../image/application_guide/image3.png)
-
-![module in rviz2](../image/application_guide/image1.png)
-
-### TF from coordinate A to coordinate B:
-
-In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
-
-Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
-
-Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
-
-Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
-
-```bash
-ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
-```
-
-![module in rviz2](../image/application_guide/image2.png)
diff --git a/docs/zh/source/4_application_guide/coordinate_and_tf.md b/docs/zh/source/4_application_guide/coordinate_and_tf.md
index 3a41620d..9a314b95 100644
--- a/docs/zh/source/4_application_guide/coordinate_and_tf.md
+++ b/docs/zh/source/4_application_guide/coordinate_and_tf.md
@@ -1,4 +1,28 @@
-## ROS2机器人坐标系 vs 相机光学坐标系
+## 坐标系和 TF 变换
+
+### 相机传感器结构
+
+![module in rviz2](../image/application_guide/image3.png)
+
+![module in rviz2](../image/application_guide/image1.png)
+
+### 从坐标系A到坐标系B的TF变换：
+
+在Orbbec相机中，原点（0,0,0）取自camera_link位置
+
+我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换
+
+此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。
+
+Gemini335模块的RGB传感器和右红外传感器静态TF变换示例，如rviz2中所示：
+
+```bash
+ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
+```
+
+![rviz2中的模块](../image/application_guide/image2.png)
+
+### ROS2机器人坐标系 vs 相机光学坐标系
 
 * 视角：
   * 想象我们站在相机后面，向前看。
@@ -345,25 +369,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
 ```
 
 - 通过TF发布变换关系
-
-### 相机传感器结构
-
-![module in rviz2](../image/application_guide/image3.png)
-
-![module in rviz2](../image/application_guide/image1.png)
-
-### 从坐标系A到坐标系B的TF变换：
-
-在Orbbec相机中，原点（0,0,0）取自camera_link位置
-
-我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换
-
-此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。
-
-Gemini335模块的RGB传感器和右红外传感器静态TF变换示例，如rviz2中所示：
-
-```bash
-ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
-```
-
-![rviz2中的模块](../image/application_guide/image2.png)