original_docstring:  move ankle so joint is on the ground using the new orientation
docstring: move ankle so joint is on the ground using the new orientation
docstring_tokens: move ankle so joint is on the ground using the new orientation
code: def regenerate_ankle_constraint_with_new_orientation(position, joint_offset, new_orientation):
      """ move ankle so joint is on the ground using the new orientation"""
      m = quaternion_matrix(new_orientation)[:3, :3]
      target_offset = np.dot(m, joint_offset)
      ca = position - target_offset
      return ca
code_tokens: def regenerate_ankle_constraint_with_new_orientation ( position , joint_offset , new_orientation ) : m = quaternion_matrix ( new_orientation ) [ : 3 , : 3 ] target_offset = np . dot ( m , joint_offset ) ca = position - target_offset return ca
short_docstring: move ankle so joint is on the ground using the new orientation
short_docstring_tokens: move ankle so joint is on the ground using the new orientation
comment: """ move ankle so joint is on the ground using the new orientation"""