code: def pose_in_base_from_name(self, name):
          
  
          pos_in_world = self.sim.data.get_body_xpos(name)
          rot_in_world = self.sim.data.get_body_xmat(name).reshape((3, 3))
          pose_in_world = T.make_pose(pos_in_world, rot_in_world)
  
          base_pos_in_world = self.sim.data.get_body_xpos("base")
          base_rot_in_world = self.sim.data.get_body_xmat("base").reshape((3, 3))
          base_pose_in_world = T.make_pose(base_pos_in_world, base_rot_in_world)
          world_pose_in_base = T.pose_inv(base_pose_in_world)
  
          pose_in_base = T.pose_in_A_to_pose_in_B(pose_in_world, world_pose_in_base)
          return pose_in_base
docs: A helper function that takes in a named data field and returns the pose of that
          object in the base frame.