(self)
return np.array(foot_positions)
Get the robot's foot position in the base frame.
Get the robot's foot position in the base frame.
Get the robot s foot position in the base frame .
def GetFootPositionsInBaseFrame(self):
    """Get the robot's foot position in the base frame."""
    assert len(self._foot_link_ids) == self.num_legs
    foot_positions = []
    for foot_id in self.GetFootLinkIDs():
      foot_positions.append(
          self.link_position_in_base_frame(link_id=foot_id)
          )
    return np.array(foot_positions)
def GetFootPositionsInBaseFrame ( self ) : assert len ( self . _foot_link_ids ) == self . num_legs foot_positions = [ ] for foot_id in self . GetFootLinkIDs ( ) : foot_positions . append ( self . link_position_in_base_frame ( link_id = foot_id ) ) return np . array ( foot_positions )