def get_ik_from_pose(self, pos, rot, manip_name, use6d=True):
    trans = OpenRAVEBody.get_ik_transform(pos, rot)
    solutions = self.get_ik_solutions(manip_name, trans, use6d)
    return solutions
def get_ik_from_pose(self, pos, rot, manip_name, use6d=True):
    trans = OpenRAVEBody.get_ik_transform(pos, rot)
    solutions = self.get_ik_solutions(manip_name, trans, use6d)
    return solutions