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Merge pull request #2250 from aftersomemath:rollout-list

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PiperOrigin-RevId: 700715697
Change-Id: Ia3af7c6af8a9fe1eb8b020efedd1755ae606f77b
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Copybara-Service
2024-11-27 08:52:17 -08:00
parent f2e9e38edf e6eab04dd0
commit 85c6fc1bdb
5 changed files with 121 additions and 55 deletions
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doc/changelog.rst
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@@ -16,6 +16,8 @@ Python bindings
- Added ``bind`` method and removed id attribute from :ref:`mjSpec` objects. Using ids is error prone in scenarios of repeated attachment and
detachment. Python users are encouraged to use names for unique identification of model elements.
- Removed ``nroll`` argument from :ref:`rollout<PyRollout>` because its value can always be inferred.
- :ref:`rollout<PyRollout>` can now accept sequences of MjModel of length ``nroll``. ``nroll`` argument deprecated because
its value can always be inferred.
Bug fixes
^^^^^^^^^
doc/python.rst
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@@ -700,6 +700,7 @@ states and sensor values. The basic usage form is
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``.
``initial_state`` is an ``nroll x nstate`` array, with ``nroll`` 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