The documentation for Pose is ambiguous

[furgalep]

The documentation says

Base class that defines the interface of a pose of a rigid body.

This class defines the interface of a pose of a rigid body. A pose of a rigid body describes the position and orientation of the rigid body in space. The position and orientation are described by position coordinates and a rotation, respectively.

It doesn't specify how the resulting pose.transform() call acts on points. does it take them from the body frame to the viewer frame? Or the other way around?

(see my rant here: http://paulfurgale.info/news/2014/6/9/representing-robot-pose-the-good-the-bad-and-the-ugly )