diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index 6cdf6320..a40c1fcf 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -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 + + + +