@staticmethod
def get_ik_transform(pos, rot, right_arm=True):
    trans = OpenRAVEBody.transform_from_obj_pose(pos, rot)
    if right_arm:
        rot_mat = matrixFromAxisAngle([0, (np.pi / 2), 0])
    else:
        rot_mat = matrixFromAxisAngle([0, ((- np.pi) / 2), 0])
    trans_mat = trans[:3, :3].dot(rot_mat[:3, :3])
    trans[:3, :3] = trans_mat
    return trans
@staticmethod
def get_ik_transform(pos, rot, right_arm=True):
    trans = OpenRAVEBody.transform_from_obj_pose(pos, rot)
    if right_arm:
        rot_mat = matrixFromAxisAngle([0, (np.pi / 2), 0])
    else:
        rot_mat = matrixFromAxisAngle([0, ((- np.pi) / 2), 0])
    trans_mat = trans[:3, :3].dot(rot_mat[:3, :3])
    trans[:3, :3] = trans_mat
    return trans