From 17d36d8e75d5b7270bb6541924f1bd84d65d7280 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Wed, 5 Nov 2025 08:23:19 -0800 Subject: [PATCH] MuJoCo Warp documentation: ``naconmax``. PiperOrigin-RevId: 828478607 Change-Id: I90e8b95cf5b869ba60a731b3d2ee962c411da943 --- doc/mjwarp/index.rst | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index fd47b267..dfe11c41 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -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`` --------------------------------------- +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``.