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I think a lot of people have their own file of python geometry functions - pr2_python is the result of merging a few of ours into one file. The functions use tf.transformations, and provide a little higher level, ros specific functionality, such as converting between transform messages and homogeneous matrices. If there's enough interest, maybe we could clean up that file and move it somewhere in the geometry stack. Until then you can copy the files you need out of pr2_python (they should only depend on tf, numpy, and a couple other things)