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MuJoCo Warp documentation: `naconmax`.

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Taylor Howell
2025-11-05 08:23:19 -08:00
committed by Copybara-Service
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doc/mjwarp/index.rst
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@@ -78,13 +78,16 @@ These MJWarp variants mirror their MuJoCo counterparts but have a few key differ
#. ``mjw.Model`` and ``mjw.Data`` contain Warp arrays that are copied onto device.
#. Some fields are missing from ``mjw.Model`` and ``mjw.Data`` for features that are unsupported.
``nworld``, ``nconmax``, and ``njmax``
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Batch sizes
-----------
MJWarp is optimized for parallel simulation. A batch of simulations can be specified with three parameters:
- ``nworld``: Number of worlds to simulate.
- ``nconmax``: Expected number of contacts per world. The maximum number of contacts for all worlds is
``nconmax * nworld``.
- ``naconmax``: Alternative to ``nconmax``, maximum number of contacts over all worlds. If ``nconmax`` and ``naconmax``
are both set and ``nworld * nconmax != naconmax`` an error will be raised.
- ``njmax``: Maximum number of constraints per world.
.. admonition:: Semantic difference for ``nconmax`` and ``njmax``.