order of translation vs rotation in static_transform_publisher

edit

I am playing a rosbag containing pointclouds on kinetic. I need to set the tf so that it is at a decent location to the Panda robot for some task.

The following is the relevant line from my launch file that set the static transform

<node pkg="tf" type="static_transform_publisher" name="to_panda_base" args="0 0 2 0 0.2 1.92 camera_rgb_optical_frame panda_link0 100" />

When running the code like this (with translation and rotation given) the result is:

At time 1527473959.781
- Translation: [0.397, -1.842, 0.671]
- Rotation: in Quaternion [-0.815, -0.057, 0.082, 0.571]
            in RPY (radian) [-1.914, 0.068, 0.188]
            in RPY (degree) [-109.640, 3.898, 10.784]

The issue is that if both rotation and translation are given which is applied first. one of the comments here mentions that the translation takes place first.

Any help is greatly appreciated. Thank you in advance.