(self, physics, xmat)
return super().global_xmat_to_local_frame(physics, xmat)
Transforms another entity's `xmat` into this walker's egocentric frame.

    This function takes another entity's (E) xmat, which is an SO(3) matrix
    from E's frame to the world frame, and turns it to a matrix that transforms
    from E's frame into this walker's egocentric frame.

    Args:
      physics: An `mjcf.Physics` instance.
      xmat: A NumPy array of shape (3, 3) or (9,) that represents another
        entity's xmat.

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

    Raises:
      ValueError: if `xmat` does not have shape (3, 3) or (9,).
Transforms another entity's `xmat` into this walker's egocentric frame.
Transforms another entity s xmat into this walker s egocentric frame .
def transform_xmat_to_egocentric_frame(self, physics, xmat):
    """Transforms another entity's `xmat` into this walker's egocentric frame.

    This function takes another entity's (E) xmat, which is an SO(3) matrix
    from E's frame to the world frame, and turns it to a matrix that transforms
    from E's frame into this walker's egocentric frame.

    Args:
      physics: An `mjcf.Physics` instance.
      xmat: A NumPy array of shape (3, 3) or (9,) that represents another
        entity's xmat.

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

    Raises:
      ValueError: if `xmat` does not have shape (3, 3) or (9,).
    """
    return super().global_xmat_to_local_frame(physics, xmat)
def transform_xmat_to_egocentric_frame ( self , physics , xmat ) : return super ( ) . global_xmat_to_local_frame ( physics , xmat )