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