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Minor updates to documentation across multiple sections.

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PiperOrigin-RevId: 898652783
Change-Id: Idb671910c18ed3406722b8a1307f97ae9a194139
This commit is contained in:
Yuval Tassa
2026-04-12 13:59:58 -07:00
committed by Copybara-Service
parent c08d181d52
commit 239aa1f856
11 changed files with 322 additions and 333 deletions
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doc/mjx.rst
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@@ -14,10 +14,10 @@ under the `mjx <https://github.com/google-deepmind/mujoco/tree/main/mjx>`__ dire
MJX allows users to run MuJoCo
on all compute hardware supported by the `XLA <https://www.tensorflow.org/xla>`__ compiler. A JAX re-implementation of
MuJoCo (:ref:`MJX-JAX <MjxJAX>`) was added in version 3.0.0. MJX-JAX
MuJoCo (:ref:`MJX-JAX <MjxJAX>`) is available. MJX-JAX
`runs on <https://jax.readthedocs.io/en/latest/installation.html#supported-platforms>`__: Nvidia and AMD GPUs,
Apple Silicon, and `Google Cloud TPUs <https://cloud.google.com/tpu>`__. A Warp implementation of MuJoCo
(:ref:`MJX-Warp <MjxWarp>`) was added in version 3.3.5 to optimize performance specifically for NVIDIA GPUs, resolving
(:ref:`MJX-Warp <MjxWarp>`) optimizes performance specifically for NVIDIA GPUs, resolving
several performance bottlenecks exhibited in MJX-JAX.
MJX is distributed as a separate package called ``mujoco-mjx`` on `PyPI <https://pypi.org/project/mujoco-mjx>`__.
@@ -125,8 +125,8 @@ Notice that we pass two extra arguments to ``mjx.make_data``:
Contacts
~~~~~~~~
Since JAX and Warp diverge in their implementations of contact buffers, contacts were moved from
``mjx.Data.contact`` to private ``mjx.Data._impl`` in MuJoCo 3.3.5. We encourage users to read out contacts solely through
Since JAX and Warp diverge in their implementations of contact buffers, contacts are located in the private
``mjx.Data._impl`` instead of ``mjx.Data.contact``. We encourage users to read out contacts solely through
:ref:`contact sensors <sensor-contact>`.
For more details and examples of using MJX-Warp in the wild, see the announcement in MuJoCo Playground
@@ -426,8 +426,8 @@ solver parameters.
Feature Parity
==============
MJX supports most of the main simulation features of MuJoCo to be run on hardware accelerated devices. MJX will raise an exception if
asked to copy to device an :ref:`mjModel` with field values referencing unsupported features.
MJX supports most of the main simulation features of MuJoCo for execution on hardware-accelerated devices. MJX will
raise an exception if asked to copy an :ref:`mjModel` to the device that references unsupported features.
The following table compares feature support between MJX-Warp and MJX-JAX compared to MuJoCo: