From 50e163748ded21d5740bc712e77ec7243abeb070 Mon Sep 17 00:00:00 2001 From: Erik Frey Date: Thu, 9 Oct 2025 13:17:44 -0700 Subject: [PATCH] Use correct tile sizes in 3p mujoco_warp now that `launch_tiled` bugs are fixed. PiperOrigin-RevId: 817310391 Change-Id: I652509ba8d6dcd514b264eb450952e6980e48f1e --- .../mjx/third_party/mujoco_warp/_src/types.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py index af06694b..3e356b95 100644 --- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py +++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py @@ -45,22 +45,22 @@ class BlockDim: qderiv_actuator_passive_actuation: int = 64 qderiv_actuator_passive_no_actuation: int = 256 # forward - euler_dense: int = 32 + euler_dense: int = 256 actuator_velocity: int = 32 - tendon_velocity: int = 32 + tendon_velocity: int = 256 # ray ray: int = 64 # sensor contact_sort: int = 64 - energy_vel_kinetic: int = 32 + energy_vel_kinetic: int = 256 # smooth - cholesky_factorize: int = 32 - cholesky_solve: int = 32 - cholesky_factorize_solve: int = 32 + cholesky_factorize: int = 256 + cholesky_solve: int = 256 + cholesky_factorize_solve: int = 256 # solver update_gradient_cholesky: int = 64 # support - mul_m_dense: int = 32 + mul_m_dense: int = 256 class BroadphaseType(enum.IntEnum):