Kinematic reference frames (5 points)


Forward kinematics -- head angle (5 points)

Inverse kinematics -- look at object (10 points)
  2 points -- correctly turn to object
    subtract 0.5 if didn't subtract current robot heading
  3 points -- do reference frame conversions
  2 points -- reasonable attempt to calculate head angle
  2 points -- account for camera being offset from head joint's x axis
  1 points -- convert to head frame, not camera frame; or else don't assume head angle is 0