Expose sites as properties.

erez-tom · copybara-github · commit d6648cc0dbf0 · 2022-04-04T23:16:43.000-07:00
PiperOrigin-RevId: 439496980
Change-Id: Ide941b547da85dc691001d0992f83df1f812c0d6
diff --git a/dm_control/entities/props/position_detector.py b/dm_control/entities/props/position_detector.py
@@ -40,8 +40,10 @@ def __init__(self, entity, detected=False):
 
 
 class PositionDetector(composer.Entity):
-  """Detects the presence of registered entities within a cuboidal region.
+  """Detects the presence of registered entities within an axis-aligned box.
 
+  The volume of this detector is defined by a "lower" corner and an "upper"
+  corner, which suffice to define an axis-aligned box.
   An entity is considered "detected" if the `xpos` value of any one of its geom
   lies within the active region defined by this detector. Note that this is NOT
   a contact-based detector. Generally speaking, a geom will not be detected
@@ -266,6 +268,18 @@ def lower(self):
   def mid(self):
     return (self._lower + self._upper) / 2.
 
+  @property
+  def lower_site(self):
+    return self._lower_site
+
+  @property
+  def mid_site(self):
+    return self._mid_site
+
+  @property
+  def upper_site(self):
+    return self._upper_site
+
   @property
   def lower_sensor(self):
     return self._lower_sensor
