Expose egocentric sensors on other players.

PiperOrigin-RevId: 451422537
Change-Id: I289ed9d81fe37e79d29923eef443412289209582

Author: erez-tom

dm_control/locomotion/soccer/observables.py

@@ -116,6 +116,7 @@ def _egocentric_end_effectors_xpos(physics):
       return np.reshape(physics.bind(sensors).sensordata, -1)
     # Adds end effectors of the other agents in the player's egocentric frame.
     name = '{}_ego_end_effectors_pos'.format(prefix)
+    player.walker.obs_on_other[name] = sensors
     player.walker.observables.add_observable(
         name,
         base_observable.Generic(_egocentric_end_effectors_xpos))
@@ -125,6 +126,7 @@ def _egocentric_end_effectors_xpos(physics):
         'framelinvel', name=ego_linvel_name,
         objtype='body', objname=other.walker.root_body,
         reftype='body', refname=player.walker.root_body)
+    player.walker.obs_on_other[ego_linvel_name] = [ego_linvel_sensor]
     player.walker.observables.add_observable(
         ego_linvel_name,
         base_observable.MJCFFeature('sensordata', ego_linvel_sensor))
@@ -134,6 +136,7 @@ def _egocentric_end_effectors_xpos(physics):
         'framepos', name=ego_pos_name,
         objtype='body', objname=other.walker.root_body,
         reftype='body', refname=player.walker.root_body)
+    player.walker.obs_on_other[ego_pos_name] = [ego_pos_sensor]
     player.walker.observables.add_observable(
         ego_pos_name,
         base_observable.MJCFFeature('sensordata', ego_pos_sensor))
@@ -148,6 +151,7 @@ def _egocentric_end_effectors_xpos(physics):
           reftype='body', refname=player.walker.root_body))
     def _egocentric_orientation(physics):
       return np.reshape(physics.bind(sensors_rot).sensordata, -1)
+    player.walker.obs_on_other[obsname] = sensors_rot
     player.walker.observables.add_observable(
         obsname,
         base_observable.Generic(_egocentric_orientation))

dm_control/locomotion/walkers/legacy_base.py

@@ -33,6 +33,7 @@ class Walker(base.Walker):
 
   def _build(self, initializer=None):
     self._end_effectors_pos_sensors = []
+    self._obs_on_other = {}
     try:
       self._initializers = tuple(initializer)
     except TypeError:
@@ -66,7 +67,8 @@ def aliveness(self, physics):
     """
     return 0.
 
-  @abc.abstractproperty
+  @property
+  @abc.abstractmethod
   def ground_contact_geoms(self):
     """Geoms in this walker that are expected to be in contact with the ground.
 
@@ -101,6 +103,10 @@ def end_effector_geom_ids(self):
   def body_geom_ids(self):
     return self._body_geom_ids
 
+  @property
+  def obs_on_other(self):
+    return self._obs_on_other
+
   def end_effector_contacts(self, physics):
     """Collect the contacts with the end effectors.
 
@@ -147,11 +153,13 @@ def collect_contacts(self, physics, geom_ids):
                                                          contact.geom2), 0.))
     return contacts
 
-  @abc.abstractproperty
+  @property
+  @abc.abstractmethod
   def end_effectors(self):
     raise NotImplementedError
 
-  @abc.abstractproperty
+  @property
+  @abc.abstractmethod
   def egocentric_camera(self):
     raise NotImplementedError