title: Given position and rotation position, how to i translate coordinates from one frame to another? (using baxter robot, ROS and python)
body: <p>So what i want to do essentially, is transforming a set of coordinates, from one frame to another. I have my camera set on my robot's hand (which i know the position and orientation), and i'm viewing a certain object, and reading coordinates from the cameras frame. </p>
  
  <p>How do i convert those coordinate to my base frame? I know that i can just first reverse the orientation, using the inverse orientation matrix, and then use some kind of translational matrix, but how do i obtain that matrix? Once the orientation is corrected, how do i do the translation?</p>