code: def T_obj_camera(self):
          
          if self.stable_pose is None:
              T_obj_world = RigidTransform(from_frame='obj', to_frame='world')
          else:
              T_obj_world = self.stable_pose.T_obj_table.as_frames('obj', 'world')
          T_camera_obj = T_obj_world.inverse() * self.T_camera_world
          return T_camera_obj
docs: Returns the transformation from camera to object when the object is in the given stable pose.
  
          Returns
          -------
          :obj:`autolab_core.RigidTransform`
              The desired transform.