<SYSTEM_TASK:>
Solve the following problem using Python, implementing the functions described below, one line at a time
<END_TASK>
<USER_TASK:>
Description:
 def T_obj_camera(self):
 """Returns the transformation from camera to object when the object is in the given stable pose. Returns ------- :obj:`autolab_core.RigidTransform` The desired transform. """

        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