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Update MJX documentation reference to MJWarp viewer

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PiperOrigin-RevId: 881941624
Change-Id: Ieafb85f5b543a3d9212b33191579c1f7a7c09d16
This commit is contained in:
Taylor Howell
2026-03-11 04:42:06 -07:00
committed by Copybara-Service
parent 3cada28be7
commit 6d1c3343af
2 changed files with 4 additions and 2 deletions
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doc/mjwarp/index.rst
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@@ -216,6 +216,8 @@ Benchmark an environment with _`testspeed`
mjwarp-testspeed benchmark/humanoid/humanoid.xml mjwarp-testspeed benchmark/humanoid/humanoid.xml
.. _mjwViewer:
Interactive environment simulation with MJWarp Interactive environment simulation with MJWarp
.. code-block:: shell .. code-block:: shell
@@ -489,7 +491,7 @@ Key features:
`Warp's BVHs <https://nvidia.github.io/warp/api_reference/_generated/warp.Bvh.html#warp.Bvh>`__. `Warp's BVHs <https://nvidia.github.io/warp/api_reference/_generated/warp.Bvh.html#warp.Bvh>`__.
Basic Usage Basic Usage
---------- -----------
Rendering or raycasting requires a :class:`mjw.RenderContext <mujoco_warp.RenderContext>` which contains BVH structures, Rendering or raycasting requires a :class:`mjw.RenderContext <mujoco_warp.RenderContext>` which contains BVH structures,
rendering specific fields, and output buffers. rendering specific fields, and output buffers.
doc/mjx.rst
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@@ -119,7 +119,7 @@ Notice that we pass two extra arguments to ``mjx.make_data``:
* ``naconmax`` defines the maximum number of contacts for all worlds combined. * ``naconmax`` defines the maximum number of contacts for all worlds combined.
* ``njmax`` defines the maximum number of constraints per world. If you are developing a new scene, these parameters * ``njmax`` defines the maximum number of constraints per world. If you are developing a new scene, these parameters
should be tuned by loading them in the :ref:`viewer <MJW_Cli>` and increasing the values accordingly as overflows should be tuned by loading them in the :ref:`viewer <mjwViewer>` and increasing the values accordingly as overflows
occur. Scale ``naconmax`` by the number of environments you'll eventually need in a ``jax.vmap``! occur. Scale ``naconmax`` by the number of environments you'll eventually need in a ``jax.vmap``!
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