def inverse_transform(t):
return [<EOL>quat_rotate(<EOL>tf.transformations.quaternion_inverse(t[<NUM_LIT:1>]),<EOL>[-t[<NUM_LIT:0>][<NUM_LIT:0>], -t[<NUM_LIT:0>][<NUM_LIT:1>], -t[<NUM_LIT:0>][<NUM_LIT:2>]]),<EOL>tf.transformations.quaternion_inverse(t[<NUM_LIT:1>])<EOL>]<EOL>
Return the inverse transformation of t
:param t: A transform [[x, y, z], [x, y, z, w]]
:return: t2 such as multiply_transform_(t, t2) = [[0, 0, 0], [0, 0, 0, 1]]