Yuval Tassa
aceb52bd09
- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time. - User-defined control spec. - Stop squeezing: outputs always have dim=3. PiperOrigin-RevId: 600445256 Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
251 lines
8.0 KiB
C++
251 lines
8.0 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <iostream>
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#include <optional>
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#include <sstream>
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#include <mujoco/mujoco.h>
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#include "errors.h"
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#include "raw.h"
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#include "structs.h"
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#include <pybind11/buffer_info.h>
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#include <pybind11/numpy.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/stl.h>
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namespace mujoco::python {
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namespace {
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namespace py = ::pybind11;
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// NOLINTBEGIN(whitespace/line_length)
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const auto rollout_doc = R"(
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Roll out open-loop trajectories from initial states, get resulting states and sensor values.
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input arguments (required):
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model instance of MjModel
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data associated instance of MjData
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nroll integer, number of initial states from which to roll out trajectories
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nstep integer, number of steps to be taken for each trajectory
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control_spec specification of controls, ncontrol = mj_stateSize(m, control_spec)
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state0 (nroll x nstate) nroll initial state vectors,
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nstate = mj_stateSize(m, mjSTATE_FULLPHYSICS)
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input arguments (optional):
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warmstart0 (nroll x nv) nroll qacc_warmstart vectors
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control (nroll x nstep x ncontrol) nroll trajectories of nstep controls
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output arguments (optional):
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state (nroll x nstep x nstate) nroll nstep states
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sensordata (nroll x nstep x nsendordata) nroll trajectories of nstep sensordata vectors
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)";
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// C-style rollout function, assumes all arguments are valid
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// all input fields of d are initialised, contents at call time do not matter
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// after returning, d will contain the last step of the last rollout
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void _unsafe_rollout(const mjModel* m, mjData* d, int nroll, int nstep, unsigned int control_spec,
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const mjtNum* state0, const mjtNum* warmstart0, const mjtNum* control,
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mjtNum* state, mjtNum* sensordata) {
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// sizes
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int nstate = mj_stateSize(m, mjSTATE_FULLPHYSICS);
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int ncontrol = mj_stateSize(m, control_spec);
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int nv = m->nv, nbody = m->nbody, neq = m->neq;
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int nsensordata = m->nsensordata;
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// clear user inputs if unspecified
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if (!(control_spec & mjSTATE_CTRL)) {
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mju_zero(d->ctrl, m->nu);
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}
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if (!(control_spec & mjSTATE_QFRC_APPLIED)) {
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mju_zero(d->qfrc_applied, nv);
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}
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if (!(control_spec & mjSTATE_XFRC_APPLIED)) {
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mju_zero(d->xfrc_applied, 6*nbody);
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}
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if (!(control_spec & mjSTATE_MOCAP_POS)) {
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for (int i = 0; i < nbody; i++) {
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int id = m->body_mocapid[i];
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if (id >= 0) mju_copy3(d->mocap_pos+3*id, m->body_pos+3*i);
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}
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}
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if (!(control_spec & mjSTATE_MOCAP_QUAT)) {
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for (int i = 0; i < nbody; i++) {
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int id = m->body_mocapid[i];
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if (id >= 0) mju_copy4(d->mocap_quat+4*id, m->body_quat+4*i);
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}
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}
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if (!(control_spec & mjSTATE_EQ_ACTIVE)) {
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for (int i = 0; i < neq; i++) {
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d->eq_active[i] = m->eq_active0[i];
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}
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}
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// loop over rollouts
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for (int r = 0; r < nroll; r++) {
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// set initial state
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mj_setState(m, d, state0 + r*nstate, mjSTATE_FULLPHYSICS);
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// set warmstart accelerations
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if (warmstart0) {
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mju_copy(d->qacc_warmstart, warmstart0 + r*nv, nv);
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} else {
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mju_zero(d->qacc_warmstart, nv);
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}
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// clear warning counters
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for (int i = 0; i < mjNWARNING; i++) {
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d->warning[i].number = 0;
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}
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// roll out trajectory
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for (int t = 0; t < nstep; t++) {
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// check for warnings
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bool nwarning = false;
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for (int i = 0; i < mjNWARNING; i++) {
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if (d->warning[i].number) {
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nwarning = true;
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break;
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}
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}
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// if any warnings, fill remaining outputs with current outputs, break
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if (nwarning) {
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for (; t < nstep; t++) {
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int step = r*nstep + t;
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if (state) {
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mj_getState(m, d, state + step*nstate, mjSTATE_FULLPHYSICS);
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}
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if (sensordata) {
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mju_copy(sensordata + step*nsensordata, d->sensordata, nsensordata);
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}
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}
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break;
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}
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int step = r*nstep + t;
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// controls
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if (control) {
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mj_setState(m, d, control + step*ncontrol, control_spec);
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}
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// step
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mj_step(m, d);
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// copy out new state
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if (state) {
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mj_getState(m, d, state + step*nstate, mjSTATE_FULLPHYSICS);
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}
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// copy out sensor values
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if (sensordata) {
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mju_copy(sensordata + step*nsensordata, d->sensordata, nsensordata);
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}
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}
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}
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}
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// NOLINTEND(whitespace/line_length)
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// check size of optional argument to rollout(), return raw pointer
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mjtNum* get_array_ptr(std::optional<const py::array_t<mjtNum>> arg,
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const char* name, int nroll, int nstep, int dim) {
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// if empty return nullptr
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if (!arg.has_value()) {
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return nullptr;
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}
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// get info
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py::buffer_info info = arg->request();
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// check size
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int expected_size = nroll * nstep * dim;
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if (info.size != expected_size) {
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std::ostringstream msg;
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msg << name << ".size should be " << expected_size << ", got " << info.size;
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throw py::value_error(msg.str());
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}
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return static_cast<mjtNum*>(info.ptr);
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}
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PYBIND11_MODULE(_rollout, pymodule) {
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namespace py = ::pybind11;
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using PyCArray = py::array_t<mjtNum, py::array::c_style>;
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// roll out open loop trajectories from multiple initial states
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// get subsequent states and corresponding sensor values
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pymodule.def(
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"rollout",
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[](const MjModelWrapper& m, MjDataWrapper& d,
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int nroll, int nstep, unsigned int control_spec,
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const PyCArray state0,
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std::optional<const PyCArray> warmstart0,
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std::optional<const PyCArray> control,
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std::optional<const PyCArray> state,
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std::optional<const PyCArray> sensordata
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) {
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const raw::MjModel* model = m.get();
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raw::MjData* data = d.get();
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// check that some steps need to be taken, return if not
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if (nroll < 1 || nstep < 1) {
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return;
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}
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// get sizes
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int nstate = mj_stateSize(model, mjSTATE_FULLPHYSICS);
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int ncontrol = mj_stateSize(model, control_spec);
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// get raw pointers
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mjtNum* state0_ptr = get_array_ptr(state0, "state0", nroll, 1, nstate);
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mjtNum* warmstart0_ptr = get_array_ptr(warmstart0, "warmstart0", nroll,
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1, model->nv);
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mjtNum* control_ptr = get_array_ptr(control, "control", nroll,
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nstep, ncontrol);
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mjtNum* state_ptr = get_array_ptr(state, "state", nroll, nstep, nstate);
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mjtNum* sensordata_ptr = get_array_ptr(sensordata, "sensordata", nroll,
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nstep, model->nsensordata);
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// perform rollouts
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{
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// release the GIL
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py::gil_scoped_release no_gil;
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// call unsafe rollout function
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InterceptMjErrors(_unsafe_rollout)(
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model, data, nroll, nstep, control_spec, state0_ptr,
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warmstart0_ptr, control_ptr, state_ptr, sensordata_ptr);
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}
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},
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py::arg("model"),
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py::arg("data"),
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py::arg("nroll"),
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py::arg("nstep"),
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py::arg("control_spec"),
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py::arg("state0"),
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py::arg("warmstart0") = py::none(),
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py::arg("control") = py::none(),
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py::arg("state") = py::none(),
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py::arg("sensordata") = py::none(),
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py::doc(rollout_doc)
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);
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}
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} // namespace
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} // namespace mujoco::python
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