code: def inverse_transform(t):
      
      return [
          quat_rotate(
              tf.transformations.quaternion_inverse(t[1]),
              [-t[0][0], -t[0][1], -t[0][2]]),
          tf.transformations.quaternion_inverse(t[1])
      ]
docs: 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]]