hlrc

    {

        // eyes frame has z-axis pointing along view dir (90° rotation w.r.t. base)

        // and z-position is shifted to height of eyes

                * Eigen::AngleAxisd(angles::from_degrees(90), Eigen::Vector3d::UnitY())

                * Eigen::AngleAxisd(angles::from_degrees(180), Eigen::Vector3d::UnitZ())).inverse();

        //eig_eyes_to_base = Eigen::Translation3d(0.070621, 0, 0.2006).inverse();