From 82471cbdfb282517e6ad6b6495aaba39b0270c6e Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Thu, 30 Jul 2026 05:33:32 -0700 Subject: [PATCH] MuJoCo Warp documentation: Large scenes initialize trees asleep ![docs](https://screenshot-v2.corp.google.com/image/222i7rtheo5eg.png) PiperOrigin-RevId: 956462670 Change-Id: I0c6f211126e5d86bfacebff49591c17cb503b062 --- doc/mjwarp/index.rst | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index e76fae6f..3a598a6b 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -444,6 +444,15 @@ high-performance tensor/matrix operations optimized for fixed tile sizes. to a tight upper bound of the expected active DOFs significantly reduces GPU memory usage and improves throughput. +.. TODO(taylorhowell): update example with correct island cycles initialization + +4. When setting ``nvmax < nv`` it is recommended to initialize all trees to asleep in order to avoid initial dof + overflow. + + .. code-block:: python + + d.tree_asleep.assign(np.array(np.arange(mjm.ntree, dtype=np.int32)), dtype=np.int32) + .. note:: Consider increasing the sleep tolerance setting (e.g., ``sleep_tolerance="0.01"`` in XML options or ``spec.option.sleep_tolerance = 0.01`` in Python) from its default value (0.001) to more quickly