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If I understand correctly what you want to do then this is exactly a use case of TF.

Define the calc_grasp_pose as a pose in the r_gripper_pick_pose frame and use transformPose to get it into the base_link frame.

If I understand correctly what you want to do then this is exactly a use case of TF.

Define the calc_grasp_pose as a pose in the r_gripper_pick_pose frame and use transformPose to get it into the base_link frame.

Edit: Not sure if what you want can be solved directly with tf methods. Maybe someone will come up. However, you can do that manually. Retrieve the base_link -> gripper transfrom from tf as lets say tfGrp and if your desired pose is target, you'll have this chain:

result * tfGrp = target
-> result = target * tfGrp^-1