(self)
return self.center_of_mass_velocity().dot(torso_frame)
Returns the velocity of the center-of-mass in the torso frame.
Returns the velocity of the center-of-mass in the torso frame.
Returns the velocity of the center - of - mass in the torso frame .
def torso_com_velocity(self):
    """Returns the velocity of the center-of-mass in the torso frame."""
    torso_frame = self.named.data.xmat['torso'].reshape(3, 3).copy()
    return self.center_of_mass_velocity().dot(torso_frame)
def torso_com_velocity ( self ) : torso_frame = self . named . data . xmat [ 'torso' ] . reshape ( 3 , 3 ) . copy ( ) return self . center_of_mass_velocity ( ) . dot ( torso_frame )