Hi Tully,
I went through the link you sent me.
As per the details
regular world frames have
x - forward,y - left and z - up
and optical frames have z -forward, x - right, y-down
unfortunately the data being spit out by the PR-2 in my case does not
transform to that effect. It remains in the regular frame. ie x -
forward.
How do I correct the frames in the PR-2?

-- 
Research Assistant
GRASP Lab, University of Pennsylvania
Bharath Sankaran