replay

Module Contents

Functions

parse_args(→ argparse.Namespace)
resolve_artifact_dir(→ pathlib.Path)
load_artifacts(→ tuple[numpy.ndarray, numpy.ndarray, ...)
run_rollout(→ tuple[float, float, float, float | None])
main(→ None)

parse_args() → argparse.Namespace

resolve_artifact_dir(artifact_dir: pathlib.Path) → pathlib.Path

load_artifacts(artifact_dir: pathlib.Path) → tuple[numpy.ndarray, numpy.ndarray, ariel.body_phenotypes.lynx_mjspec.unified_pipeline.common.PolicySpec, dict[str, object]]

run_rollout(model: mujoco.MjModel, data: mujoco.MjData, net: ariel.body_phenotypes.lynx_mjspec.unified_pipeline.common.FastNumpyNetwork, policy: ariel.body_phenotypes.lynx_mjspec.unified_pipeline.common.PolicySpec, tcp_sid: int, tgt_sid: int, joint_ids: list[int], target: numpy.ndarray, sim_steps: int, ctrl_freq: int, touch_threshold: float) → tuple[float, float, float, float | None]

main() → None