code: def multiply_transform_old(t1, t2):
      
      if _is_indexable(t1) and len(t1) == 2:
          t1m = tf.transformations.translation_matrix(t1[0])
          r1m = tf.transformations.quaternion_matrix(t1[1])
          m1m = dot(t1m, r1m)
          t2m = tf.transformations.translation_matrix(t2[0])
          r2m = tf.transformations.quaternion_matrix(t2[1])
          m2m = dot(t2m, r2m)
          rm = dot(m1m, m2m)
          rt = tf.transformations.translation_from_matrix(rm)
          rr = tf.transformations.quaternion_from_matrix(rm)
          return [list(rt), list(rr)]
      else:
          return dot(t1, t2)
docs: Combines two transformations together
      The order is translation first, rotation then
      :param t1: [[x, y, z], [x, y, z, w]] or matrix 4x4
      :param t2: [[x, y, z], [x, y, z, w]] or matrix 4x4
      :return: The combination t1-t2 in the form [[x, y, z], [x, y, z, w]] or matrix 4x4