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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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python/least_squares.ipynb
+3 -3
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@@ -1967,8 +1967,8 @@
" data.mocap_pos[mocapid] = target\n",
"\n",
" # Append the mocap targets to the controls\n",
" nroll = ctrl0.shape[0]\n",
" mocap = np.tile(data.mocap_pos[mocapid], (nroll, 1))\n",
" nbatch = ctrl0.shape[0]\n",
" mocap = np.tile(data.mocap_pos[mocapid], (nbatch, 1))\n",
" ctrl0 = np.hstack((ctrl0, mocap))\n",
" ctrlT = np.hstack((ctrlT, mocap))\n",
"\n",
@@ -1988,7 +1988,7 @@
" state = np.empty(nstate)\n",
" mujoco.mj_getState(model, data, state, spec)\n",
"\n",
" # Perform rollouts (sensors.shape == nroll, nstep, nsensordata)\n",
" # Perform rollouts (sensors.shape == nbatch, nstep, nsensordata)\n",
" states, sensors = rollout.rollout(model, data, state, control,\n",
" control_spec=control_spec)\n",
"\n",