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Rename rollout variable nroll to nbatch.

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PiperOrigin-RevId: 718196100
Change-Id: Ic36b1a96ea1af2de351539115d4eee051d195aaf
This commit is contained in:
Yuval Tassa
2025-01-21 21:03:08 -08:00
committed by Copybara-Service
parent ac76540eb8
commit 0090e1e908
5 changed files with 163 additions and 160 deletions
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doc/python.rst
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@@ -730,11 +730,11 @@ states and sensor values. The rollouts are run in parallel with an internally ma
state, sensordata = rollout.rollout(model, data, initial_state, control)
``model`` is either a single instance of MjModel or a sequence of compatible MjModel of length ``nroll``.
``model`` is either a single instance of MjModel or a sequence of compatible MjModel of length ``nbatch``.
``data`` is either a single instance of MjData or a sequence of compatible MjData of length ``nthread``.
``initial_state`` is an ``nroll x nstate`` array, with ``nroll`` initial states of size ``nstate``, where
``initial_state`` is an ``nbatch x nstate`` array, with ``nbatch`` initial states of size ``nstate``, where
``nstate = mj_stateSize(model, mjtState.mjSTATE_FULLPHYSICS)`` is the size of the
:ref:`full physics state<geFullPhysics>`. ``control`` is a ``nroll x nstep x ncontrol`` array of controls. Controls are
:ref:`full physics state<geFullPhysics>`. ``control`` is a ``nbatch x nstep x ncontrol`` array of controls. Controls are
by default the ``mjModel.nu`` standard actuators, but any combination of :ref:`user input<geInput>` arrays can be
specified by passing an optional ``control_spec`` bitflag.