(self)
return head_to_target.dot(head_frame)
Returns the target position in the frame of the head.
Returns the target position in the frame of the head.
Returns the target position in the frame of the head .
def target_in_head_frame(self):
    """Returns the target position in the frame of the head."""
    head_frame = self.named.data.site_xmat['head'].reshape(3, 3)
    head_pos = self.named.data.site_xpos['head']
    target_pos = self.named.data.geom_xpos['target']
    head_to_target = target_pos - head_pos
    return head_to_target.dot(head_frame)
def target_in_head_frame ( self ) : head_frame = self . named . data . site_xmat [ 'head' ] . reshape ( 3 , 3 ) head_pos = self . named . data . site_xpos [ 'head' ] target_pos = self . named . data . geom_xpos [ 'target' ] head_to_target = target_pos - head_pos return head_to_target . dot ( head_frame )