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rollout fixups and correctly initialize unspecified controls

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This commit is contained in:
Levi Burner
2024-11-27 07:02:16 -05:00
parent 41b325785a
commit e6eab04dd0
5 changed files with 29 additions and 23 deletions
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doc/changelog.rst
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@@ -16,7 +16,7 @@ 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 lists of MjModel of length ``nroll``. ``nroll`` argument deprecated because
- :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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@@ -700,7 +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 list of compatible MjModel of length ``nroll``.
``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