mujoco.jl rollouts

rollouts.jl

using MuJoCo

function dorollout(f, T)
  pm = mj_loadXML(f)
  pd = mj_makeData(pm)
  m = mj.mapmodel(pm)
  datas = [ mj.mapdata(pm, mj_makeData(pm)) for t=1:Threads.nthreads() ] 
    
  @time begin
    Threads.@threads for k=1:Threads.nthreads()
      for t=1:T
        mj_step(m, datas[k])
      end
    end
  end
  
  for t=1:Threads.nthreads()
    println(datas[t].d)
    mj_deleteData(datas[t])
  end
  mj_deleteModel(m)
end

f = "models/humanoid.xml"
dorollout(f, 1000)