@staticmethod
def transform_from_obj_pose(pose, rotation=np.array([0, 0, 0])):
    (x, y, z) = pose
    (alpha, beta, gamma) = rotation
    (Rz, Ry, Rx) = OpenRAVEBody._axis_rot_matrices(pose, rotation)
    rot_mat = np.dot(Rz, np.dot(Ry, Rx))
    matrix = np.eye(4)
    matrix[:3, :3] = rot_mat
    matrix[:3, 3] = [x, y, z]
    return matrix
@staticmethod
def transform_from_obj_pose(pose, rotation=np.array([0, 0, 0])):
    (x, y, z) = pose
    (alpha, beta, gamma) = rotation
    (Rz, Ry, Rx) = OpenRAVEBody._axis_rot_matrices(pose, rotation)
    rot_mat = np.dot(Rz, np.dot(Ry, Rx))
    matrix = np.eye(4)
    matrix[:3, :3] = rot_mat
    matrix[:3, 3] = [x, y, z]
    return matrix