(self, physics, vec_in_world_frame)
return super().global_vector_to_local_frame(physics, vec_in_world_frame)
Linearly transforms a world-frame vector into walker's egocentric frame.

    Note that this function does not perform an affine transformation of the
    vector. In other words, the input vector is assumed to be specified with
    respect to the same origin as this walker's egocentric frame. This function
    can also be applied to matrices whose innermost dimensions are either 2 or
    3. In this case, a matrix with the same leading dimensions is returned
    where the innermost vectors are replaced by their values computed in the
    egocentric frame.

    Args:
      physics: An `mjcf.Physics` instance.
      vec_in_world_frame: A NumPy array with last dimension of shape (2,) or
      (3,) that represents a vector quantity in the world frame.

    Returns:
      The same quantity as `vec_in_world_frame` but reexpressed in this
      entity's egocentric frame. The returned np.array has the same shape as
      np.asarray(vec_in_world_frame).

    Raises:
      ValueError: if `vec_in_world_frame` does not have shape ending with (2,)
        or (3,).
Linearly transforms a world-frame vector into walker's egocentric frame.
Linearly transforms a world - frame vector into walker s egocentric frame .
def transform_vec_to_egocentric_frame(self, physics, vec_in_world_frame):
    """Linearly transforms a world-frame vector into walker's egocentric frame.

    Note that this function does not perform an affine transformation of the
    vector. In other words, the input vector is assumed to be specified with
    respect to the same origin as this walker's egocentric frame. This function
    can also be applied to matrices whose innermost dimensions are either 2 or
    3. In this case, a matrix with the same leading dimensions is returned
    where the innermost vectors are replaced by their values computed in the
    egocentric frame.

    Args:
      physics: An `mjcf.Physics` instance.
      vec_in_world_frame: A NumPy array with last dimension of shape (2,) or
      (3,) that represents a vector quantity in the world frame.

    Returns:
      The same quantity as `vec_in_world_frame` but reexpressed in this
      entity's egocentric frame. The returned np.array has the same shape as
      np.asarray(vec_in_world_frame).

    Raises:
      ValueError: if `vec_in_world_frame` does not have shape ending with (2,)
        or (3,).
    """
    return super().global_vector_to_local_frame(physics, vec_in_world_frame)
def transform_vec_to_egocentric_frame ( self , physics , vec_in_world_frame ) : return super ( ) . global_vector_to_local_frame ( physics , vec_in_world_frame )