Module Expr Str Import alias identifier Expr Str Assign NameStore Call AttributeLoad NameLoad attr ListLoad ListLoad Num Num Num Num ListLoad Num Num Num Num ListLoad Num Num Num Num ListLoad Num Num Num Num Assign NameStore Num FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr Str attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list
N/A N/A 
put Berkeley-specific parameters here
 N/A numpy np N/A 
Berkeley PR2's kinect transform
Here's what's in the URDF:
    <joint name="camera_rgb_optical_frame_joint" type="fixed">
    <parent link="head_plate_frame"/>
    <child link="camera_link"/>
    <origin rpy="0.005 0.035 0.02" xyz="-0.19 0.045 0.22"/>
    </joint>
    <link name="camera_link" type="camera"/>
 N/A T_h_k N/A N/A np array N/A N/A -0.02102462 -0.03347223 0.99921848 -0.186996 N/A -0.99974787 -0.00717795 -0.02127621 0.04361884 N/A 0.0078845 -0.99941387 -0.03331288 0.22145804 N/A 0.0 0.0 0.0 1.0 N/A f 544.260779961 get_kinect_transform N/A N/A robot N/A N/A N/A T_w_h N/A N/A N/A N/A robot GetLink head_plate_frame GetTransform N/A T_w_k N/A N/A T_w_h dot T_h_k N/A T_w_k N/A