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this could be solved like this :

tf_buffer = tf2_py.BufferCore(rospy.Duration(1000000))
bag = rosbag.Bag(bag)
for topic, msg, t in bag.read_messages(topics=['/tf', '/tf_static']):
    for msg_tf in msg.transforms:
        if topic == '/tf_static':
            tf_buffer.set_transform_static(msg_tf, "default_authority")
        else:
            tf_buffer.set_transform(msg_tf, "default_authority")
return tf_buffer