def invert(self) -> Rigid:
        """
        Inverts the transformation.

        Returns:
            The inverse transformation.
        """
        rot_inv = self._rots.invert()
        trn_inv = rot_inv.apply(self._trans)

        return Rigid(rot_inv, -1 * trn_inv)

        Inverts the transformation.

        Returns:
            The inverse transformation.
        
dpkd/transformers/src/transformers/models/esm/openfold_utils/rigid_utils.py