def get_close_ik_solution(self, manip_name, trans, dof_map=None):
    if (dof_map is not None):
        self.set_dof(dof_map)
    manip = self.env_body.GetManipulator(manip_name)
    iktype = IkParameterizationType.Transform6D
    ik_param = IkParameterization(trans, iktype)
    solution = manip.FindIKSolution(ik_param, IkFilterOptions.IgnoreSelfCollisions)
    return solution
def get_close_ik_solution(self, manip_name, trans, dof_map=None):
    if (dof_map is not None):
        self.set_dof(dof_map)
    manip = self.env_body.GetManipulator(manip_name)
    iktype = IkParameterizationType.Transform6D
    ik_param = IkParameterization(trans, iktype)
    solution = manip.FindIKSolution(ik_param, IkFilterOptions.IgnoreSelfCollisions)
    return solution