twizy_description/src/twizy_description/robot_description.py
def rotation(self):
        """4x4 rotation matrix of this node relative to its parent"""

        r = self.fields.get('rotation', '').split()
        if len(r) != 4 or r[0] == 'IS':
            return np.identity(4)
        return axangle2aff([float(a) for a in r[:3]], float(r[3]))
4x4 rotation matrix of this node relative to its parent
4x4 rotation matrix of this node relative to its parent
4x4 rotation matrix of this node relative to its parent
def rotation(self):
        r = self.fields.get('rotation', '').split()
        if len(r) != 4 or r[0] == 'IS':
            return np.identity(4)
        return axangle2aff([float(a) for a in r[:3]], float(r[3]))
def rotation ( self ) : r = self . fields . get ( 'rotation' , '' ) . split ( ) if len ( r ) != 4 or r [ 0 ] == 'IS' : return np . identity ( 4 ) return axangle2aff ( [ float ( a ) for a in r [ : 3 ] ] , float ( r [ 3 ] ) )
4x4 rotation matrix of this node relative to its parent
4x4 rotation matrix of this node relative to its parent
"""4x4 rotation matrix of this node relative to its parent"""
self