Method ball_in_head_frame

dm_control/suite/dog.py:213–223

Returns the ball position and velocity in the frame of the head.

(self)

    return self.named.data.sensordata[['foot_L', 'foot_R', 'hand_L', 'hand_R']]

  def ball_in_head_frame(self):
    """Returns the ball position and velocity 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']
    ball_pos = self.named.data.geom_xpos['ball']
    head_to_ball = ball_pos - head_pos
    head_vel, _ = self.data.object_velocity('head', 'site')
    ball_vel, _ = self.data.object_velocity('ball', 'geom')
    head_to_ball_vel = ball_vel - head_vel
    return np.hstack((head_to_ball.dot(head_frame),
                      head_to_ball_vel.dot(head_frame)))

  def target_in_head_frame(self):
    """Returns the target position in the frame of the head."""