(self)
return torso_to_target.dot(torso_frame)
Returns target position in torso frame.
Returns target position in torso frame.
Returns target position in torso frame .
def target_position(self):
    """Returns target position in torso frame."""
    torso_frame = self.named.data.xmat['torso'].reshape(3, 3)
    torso_pos = self.named.data.xpos['torso']
    torso_to_target = self.named.data.site_xpos['target'] - torso_pos
    return torso_to_target.dot(torso_frame)
def target_position ( self ) : torso_frame = self . named . data . xmat [ 'torso' ] . reshape ( 3 , 3 ) torso_pos = self . named . data . xpos [ 'torso' ] torso_to_target = self . named . data . site_xpos [ 'target' ] - torso_pos return torso_to_target . dot ( torso_frame )