(self, leg_id,
                                              foot_local_position)
return self._EndEffectorIK(
        leg_id, foot_local_position, position_in_world_frame=False)
Use IK to compute the motor angles, given the foot link's local position.

    Args:
      leg_id: The leg index.
      foot_local_position: The foot link's position in the base frame.

    Returns:
      A tuple. The position indices and the angles for all joints along the
      leg. The position indices is consistent with the joint orders as returned
      by GetMotorAngles API.
Use IK to compute the motor angles, given the foot link's local position.
Use IK to compute the motor angles given the foot link s local position .
def ComputeMotorAnglesFromFootLocalPosition(self, leg_id,
                                              foot_local_position):
    """Use IK to compute the motor angles, given the foot link's local position.

    Args:
      leg_id: The leg index.
      foot_local_position: The foot link's position in the base frame.

    Returns:
      A tuple. The position indices and the angles for all joints along the
      leg. The position indices is consistent with the joint orders as returned
      by GetMotorAngles API.
    """
    return self._EndEffectorIK(
        leg_id, foot_local_position, position_in_world_frame=False)
def ComputeMotorAnglesFromFootLocalPosition ( self , leg_id , foot_local_position ) : return self . _EndEffectorIK ( leg_id , foot_local_position , position_in_world_frame = False )