chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

MuJoCo Warp documentation: `naconmax`.

Browse Source 
PiperOrigin-RevId: 828478607
Change-Id: I90e8b95cf5b869ba60a731b3d2ee962c411da943
This commit is contained in:
Taylor Howell
2025-11-05 08:23:19 -08:00
committed by Copybara-Service
parent 30a99de3b9
commit 17d36d8e75
1 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/mjwarp/index.rst
+5 -2
View File
@@ -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. #. ``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. #. 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: MJWarp is optimized for parallel simulation. A batch of simulations can be specified with three parameters:
- ``nworld``: Number of worlds to simulate. - ``nworld``: Number of worlds to simulate.
- ``nconmax``: Expected number of contacts per world. The maximum number of contacts for all worlds is - ``nconmax``: Expected number of contacts per world. The maximum number of contacts for all worlds is
``nconmax * nworld``. ``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. - ``njmax``: Maximum number of constraints per world.
.. admonition:: Semantic difference for ``nconmax`` and ``njmax``. .. admonition:: Semantic difference for ``nconmax`` and ``njmax``.