a ij7@s4dZddlZddlmZddlmZmZddlZddlmZddl Z ddl mZ GdddZ da d d Zeedejjjd dddddd d eejeejfeejeejfe jee jeeeeee jee jee jeeed ddZddZddZddZddZddZddZdddZdS) z]Roll out open-loop trajectories from initial states, get subsequent states and sensor values.N)Sequence)OptionalUnion)_rollout)typingc@seZdZdZddeedddZddZdd Zd d Z de j j j d dddddd ee jee jfee jee jfejeejeeeeeejeejeejeed ddZdS)Rolloutz>Rollout object containing a thread pool for parallel rollouts.NnthreadcCs&|dur dn||_tj|jd|_dS)zConstruct a rollout object containing a thread pool for parallel rollouts. Args: nthread: Number of threads in pool. If zero, this pool is not started and rollouts run on the calling thread. Nrr)r rrrollout_)selfr r N/home/ghrups/robot-bench/.venv/lib64/python3.9/site-packages/mujoco/rollout.py__init__szRollout.__init__cCs|SNr r r r r __enter__(szRollout.__enter__cCs |dSr)close)r exc_typeexc_valexc_tbr r r __exit__+szRollout.__exit__cCs|`d|_dSr)r rr r r r.sz Rollout.closeF control_spec skip_checksnstepinitial_warmstartstate sensordata chunk_size) modeldata initial_statecontrolrrrrrrrc Cs|jdurtd|r<|j|||||||| | | | | fSt|tjsPt|}|tjjj @rht d|r~t|t s~t d| rt| t st dt |||| | dt d||dt d || | d t|}t|}t|}t| } t| } td d |||| | d} t|tr | d kr t|} t|trTt|| krTt d | dt|nt|tsf|g}t|tsx|g}td |pd || | d }t|d tjjj } t|d |}|d j}|d j}|d dD]P}| t|tjjj ks|t||ks||jks||jkrt dqt| || dt||dt||dt|| dt|d krp|| n|}t|| }t|| }t|| |}| durt| || f} | durt| ||f} |j|||||||| | | | | fS)a Rolls out open-loop trajectories from initial states, get subsequent state and sensor values. Python wrapper for rollout.cc, see documentation therein. Infers nroll and nstep. Tiles inputs with singleton dimensions. Allocates outputs if none are given. Args: model: An instance or length nroll sequence of MjModel with the same size signature. data: Associated mjData instance or sequence of instances with length nthread. initial_state: Array of initial states from which to roll out trajectories. ([nroll or 1] x nstate) control: Open-loop controls array to apply during the rollouts. ([nroll or 1] x [nstep or 1] x ncontrol) control_spec: mjtState specification of control vectors. skip_checks: Whether to skip internal shape and type checks. nstep: Number of steps in rollouts (inferred if unspecified). initial_warmstart: Initial qfrc_warmstart array (optional). ([nroll or 1] x nv) state: State output array (optional). (nroll x nstep x nstate) sensordata: Sensor data output array (optional). (nroll x nstep x nsensordata) chunk_size: Determines threadpool chunk size. If unspecified, chunk_size = max(1, nroll / (nthread * 10)) Returns: state: State output array, (nroll x nstep x nstate). sensordata: Sensor data output array, (nroll x nstep x nsensordata). Raises: RuntimeError: rollout requested after thread pool shutdown. ValueError: bad shapes or sizes. Nz,rollout requested after thread pool shutdownz2control_spec can only contain bits in mjSTATE_USERznstep must be an integerzchunk_size must be an integer)r!rr"rr)r!r)r"rrrznroll inferred as z but model is length zmodels are not compatible)r!r)r")r)r)r RuntimeErrorrollout isinstancemujocoMjModellistmjtStateZ mjSTATE_USERvalue ValueErrorint_check_must_be_numeric_check_number_of_dimensions _ensure_2d _ensure_3d_infer_dimensionlenZ mj_stateSizeZmjSTATE_FULLPHYSICSnv nsensordata_check_trailing_dimension_tile_if_requirednpempty)r rr r!r"rrrrrrrZnrollZnstateZncontrolr6r7mr r r r'2s4                  zRollout.rollout)N)__name__ __module__ __qualname____doc__rr/rrrrr)r, mjSTATE_CTRLr-rr*rMjDatanpt ArrayLikeboolr'r r r r rs6  rcCstdurtdadS)zShutdown the persistent thread pool that is optionally created by rollout. This is called automatically interpreter shutdown, but can also be called manually. N)persistent_rolloutrr r r r shutdown_persistent_poolsrGF)rrrrrrrpersistent_pool) rr r!r"rrrrrrrrHc Cst|ts|g}t|dkr$t|nd} | r`tdur>t| datj| krZtt| dat} n t| d} z0| j|||||||||| | d W| s| Sn| s| 0dS)aRolls out open-loop trajectories from initial states, get subsequent states and sensor values. Python wrapper for rollout.cc, see documentation therein. Infers nroll and nstep. Tiles inputs with singleton dimensions. Allocates outputs if none are given. Args: model: An instance or length nroll sequence of MjModel with the same size signature. data: Associated mjData instance or sequence of instances with length nthread. initial_state: Array of initial states from which to roll out trajectories. ([nroll or 1] x nstate) control: Open-loop controls array to apply during the rollouts. ([nroll or 1] x [nstep or 1] x ncontrol) control_spec: mjtState specification of control vectors. skip_checks: Whether to skip internal shape and type checks. nstep: Number of steps in rollouts (inferred if unspecified). initial_warmstart: Initial qfrc_warmstart array (optional). ([nroll or 1] x nv) state: State output array (optional). (nroll x nstep x nstate) sensordata: Sensor data output array (optional). (nroll x nstep x nsensordata) chunk_size: Determines threadpool chunk size. If unspecified, chunk_size = max(1, nroll / (nthread * 10)) persistent_pool: Determines if a persistent thread pool is created or reused. Returns: state: State output array, (nroll x nstep x nstate). sensordata: Sensor data output array, (nroll x nstep x nsensordata). Raises: ValueError: bad shapes or sizes. r%rNrr)r(r+r5rFrr rr')rr r!r"rrrrrrrrHr r r r r r's@3     r'cKsD|D]6\}}|durqt|tjst|tst|dqdS)Nz must be a numpy array or float)itemsr(r:Zndarrayfloatr.)kwargskeyr-r r r r0]s r0cKs>|D]0\}}|durq|j|krt|d|dqdS)Nz can have at most z dimensions)rIndimr.)rMrKrLr-r r r r1es  r1c KsN|D]@\}}|durq|jd|krtd|d|d|jdqdS)Nztrailing dimension of z must be z, got rIshaper.)dimrKrLr-r r r r8msr8cCs&|dur dStjt|tjdSdS)NZdtype)r:ascontiguousarrayZ atleast_2dfloat64argr r r r2wsr2cCsx|dur dS|jdkr.|tjtjtjdf}n6|jdkrL|tjtjdf}n|jdkrd|tjdf}tj|tjdSdS)Nr.r%r#rR)rMr:ZnewaxisrSrTrUr r r r3~s   r3c Ksv|D]h\}}|durq|j||kr|dkr<|j|}q|j|dkrtd|d|d|d|j|q|S)a{Infers dimension `dim` given guess `value` from set of arrays. Args: dim: Dimension to be inferred. value: Initial guess of inferred value (1: unknown). **kwargs: List of arrays which should all have the same size (or 1) along dimension dim. Returns: Inferred dimension. Raises: ValueError: If mismatch between array shapes or initial guess. Nr%z dimension z inferred as z but z has rO)rQr-rKnamearrayr r r r4s r4cCs\|dur dStj|jtd}|jddkr2||d<|durP|jddkrP||d<t||S)NrRrr%)r:ZonesrMr/rPZtile)rXZdim0Zdim1Zrepsr r r r9sr9)N)N) r@atexitcollections.abcrrrrr)rnumpyr:rCrrFrGregisterr,rAr-r*rBrDr/rEr'r0r1r8r2r3r4r9r r r r sV   Z  X