Add standard orientation sensor to base.Walker.

sbohez · copybara-github · commit fe8ec8a613f4 · 2020-04-16T06:32:02.000-07:00
PiperOrigin-RevId: 306834126
Change-Id: I07832acd26a7cd07b1893f00e04894672359968f
diff --git a/dm_control/locomotion/walkers/base.py b/dm_control/locomotion/walkers/base.py
@@ -173,6 +173,11 @@ def sensors_accelerometer(self):
     return observable.MJCFFeature('sensordata',
                                   self._entity.mjcf_model.sensor.accelerometer)
 
+  @composer.observable
+  def sensors_framequat(self):
+    return observable.MJCFFeature('sensordata',
+                                  self._entity.mjcf_model.sensor.framequat)
+
   # Semantic groupings of Walker observables.
   def _collect_from_attachments(self, attribute_name):
     out = []
@@ -187,7 +192,9 @@ def proprioception(self):
 
   @property
   def kinematic_sensors(self):
-    return ([self.sensors_gyro, self.sensors_accelerometer] +
+    return ([self.sensors_gyro,
+             self.sensors_accelerometer,
+             self.sensors_framequat] +
             self._collect_from_attachments('kinematic_sensors'))
 
   @property
diff --git a/setup.py b/setup.py
@@ -166,7 +166,7 @@ def find_data_files(package_dir, patterns):
 
 setup(
     name='dm_control',
-    version='0.0.306617621',
+    version='0.0.306834126',
     description='Continuous control environments and MuJoCo Python bindings.',
     author='DeepMind',
     license='Apache License, Version 2.0',
