Method target_in_head_frame

dm_control/suite/dog.py:225–231

Returns the target position in the frame of the head.

(self)

                      head_to_ball_vel.dot(head_frame)))

  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 ball_to_mouth_distance(self):
    """Returns the distance from the ball to the mouth."""