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After some playing around, the following code achieved me to translate my pose along the x-axis
.
transform = self.tf_buffer.lookup_transform(frame, required_position, rospy.Time(0), rospy.Duration(1))
initial_pose = PoseStamped()
initial_pose.pose.position.x = 0.2
translated_pose = tf2_geometry_msgs.do_transform_pose(initial_pose, transform)