From 2e43279ac3c18d9ccf497273e98123976a6366f9 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Fri, 5 Jun 2026 12:05:14 -0700 Subject: [PATCH] MuJoCo Warp documentation: remove parallel linesearch PiperOrigin-RevId: 927417172 Change-Id: I43f72ec0be89e9370b6e7699a8080d8ecf02b4ab --- doc/mjwarp/index.rst | 25 ------------------------- 1 file changed, 25 deletions(-) diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index c2cb0804..4b72f454 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -318,29 +318,6 @@ Similar to the maximum numbers of contacts and constraints, a good value for thi specific. :func:`mjwarp-testspeed ` and :func:`mjwarp-viewer ` may be useful for tuning the value of this parameter. -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 -:attr:`Model.opt.ls_parallel_min_step ` to 1 and the number of step sizes to -evaluate is set via :attr:`Model.opt.ls_iterations `. - -In some cases the parallel routine may provide improved performance compared to the constraint solver's default -iterative linesearch. - -To enable this routine set ``Model.opt.ls_parallel=True`` or add a custom numeric field to the XML - -.. code-block:: xml - - - - - -.. admonition:: Experimental feature - :class: note - - The parallel linesearch is currently an experimental feature. Memory ------ @@ -1056,8 +1033,6 @@ exceptions: Additional MJWarp-only options are available: -- ``ls_parallel``: use parallel linesearch with the constraint solver -- ``ls_parallel_min_step``: minimum step size for the parallel linesearch - ``broadphase``: type of broadphase algorithm (:class:`mjw.BroadphaseType `) - ``broadphase_filter``: type of filtering utilized by broadphase (:class:`mjw.BroadphaseFilter `)