code: def bullet_base_pose_to_world_pose(self, pose_in_base):
          
          pose_in_base = T.pose2mat(pose_in_base)
  
          base_pos_in_world = np.array(p.getBasePositionAndOrientation(self.ik_robot)[0])
          base_orn_in_world = np.array(p.getBasePositionAndOrientation(self.ik_robot)[1])
          base_pose_in_world = T.pose2mat((base_pos_in_world, base_orn_in_world))
  
          pose_in_world = T.pose_in_A_to_pose_in_B(
              pose_A=pose_in_base, pose_A_in_B=base_pose_in_world
          )
          return T.mat2pose(pose_in_world)
docs: Convert a pose in the base frame to a pose in the world frame.
  
          Args:
              pose_in_base: a (pos, orn) tuple.
  
          Returns:
              pose_in world: a (pos, orn) tuple.