Fix upright position for CMUHumanoidPositionControlledV2020.

Closes google-deepmind#192 PiperOrigin-RevId: 387317115 Change-Id: I9025c8329597558a5f15186956862628721d7daf
robot0102 · Jul 28, 2021 · d1fe1d1 · d1fe1d1
1 parent 892b4e4
commit d1fe1d1
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/dm_control/locomotion/walkers/cmu_humanoid.py b/dm_control/locomotion/walkers/cmu_humanoid.py
@@ -172,6 +172,7 @@
 # pylint: enable=bad-whitespace
 
 _UPRIGHT_POS = (0.0, 0.0, 0.94)
+_UPRIGHT_POS_V2020 = (0.0, 0.0, 1.143)
 _UPRIGHT_QUAT = (0.859, 1.0, 1.0, 0.859)
 
 # Height of head above which the humanoid is considered standing.
@@ -426,6 +427,10 @@ def _build(self, **kwargs):
     super()._build(
         model_version='2020', scale_default=True, include_face=True, **kwargs)
 
+  @property
+  def upright_pose(self):
+    return base.WalkerPose(xpos=_UPRIGHT_POS_V2020, xquat=_UPRIGHT_QUAT)
+
 
 class CMUHumanoidObservables(legacy_base.WalkerObservables):
   """Observables for the Humanoid."""

diff --git a/setup.py b/setup.py
@@ -177,7 +177,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='0.0.378536820',
+    version='0.0.387317115',
     description='Continuous control environments and MuJoCo Python bindings.',
     author='DeepMind',
     license='Apache License, Version 2.0',