Transforming a pose to PR2 base frame in Python using TF

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Hi, I am working on a new grasping project. My mate developed a system to detect pose of an object with respect to camera/kinect in ros. I am working in ubuntu 14.04 and ros version is Indigo. For now, I need to take a pose value from a file or something else, then I need to transform that pose of the object to PR2's base frame so that from there, I can use the moveit interface to move PR2's arm to grasp the object. I have searched in the internet about some transformation of pose using tf, I would not like to use tf2 as it is not fully tested yet. I would like to work in the simulator first and I am trying to make sense of a sequence of actions. So, my first job should be to take a pose value (position and orientation, (x,y,z), (x,y,z,w)) and transform it to PR2 base frame, and I would work in python. So, I need some guidelines for the approach. Could anyone advise where to start? I am not looking for tf tutorials but a sample code or link to an example would help.

Thank you.