parameters: (self, q)
return_statement: return com
docstring: Returns CoM position
docstring_summary: Returns CoM position
docstring_tokens: Returns CoM position
function: def getSensedValue(self, q):
  		"""Returns CoM position
  		"""
  		self.robot.setConfig(q)
  		com = self.robot.getCom()
  		if self.baseLinkNo >= 0:
  			Tb = self.robot.link(self.baseLinkNo).getTransform()
  			Tbinv = se3.inv(Tb)
  			com = se3.apply(Tbinv,com)
  		return com
function_tokens: def getSensedValue ( self , q ) : self . robot . setConfig ( q ) com = self . robot . getCom ( ) if self . baseLinkNo >= 0 : Tb = self . robot . link ( self . baseLinkNo ) . getTransform ( ) Tbinv = se3 . inv ( Tb ) com = se3 . apply ( Tbinv , com ) return com