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MuJoCo Warp documentation: Parallel Linesearch.

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Taylor Howell
2025-10-28 03:00:06 -07:00
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@@ -231,3 +231,17 @@ It is possible to override the field shape and set the field values after graph
Heterogeneous worlds, for example: per-world meshes or number of degrees of freedom, are not currently available.
Parallel Linesearch
===================
In addition to the constraint solver's iterative linesearch, MJWarp provides a parallel linesearch routine that
evaluates a set of step sizes in parallel and selects the best one. The step sizes are spaced logarithmically from
``Model.opt.ls_parallel_min_step`` to 1 and the number of step sizes to evaluate is set via ``Model.opt.ls_iterations``.
To enable this routine set ``Model.opt.ls_parallel=True`` or add a custom numeric field to the XML
.. code-block:: xml
<custom>
<name="ls_parallel" numeric data="1"/>
</custom>