(self)
return -torso_pos.dot(torso_frame)
Returns origin position in the torso frame.
Returns origin position in the torso frame.
Returns origin position in the torso frame .
def origin(self):
    """Returns origin position in the torso frame."""
    torso_frame = self.named.data.xmat['torso'].reshape(3, 3)
    torso_pos = self.named.data.xpos['torso']
    return -torso_pos.dot(torso_frame)
def origin ( self ) : torso_frame = self . named . data . xmat [ 'torso' ] . reshape ( 3 , 3 ) torso_pos = self . named . data . xpos [ 'torso' ] return - torso_pos . dot ( torso_frame )