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MuJoCo Warp documentation: Inertia matrix factorization

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Taylor Howell
2026-01-28 10:17:36 -08:00
committed by Copybara-Service
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@@ -668,3 +668,12 @@ Warmstart
If warmstarts are not :ref:`disabled <option-flag-warmstart>`, the MJWarp solver warmstart always initializes the
acceleration with ``qacc_warmstart``. In contrast, MuJoCo performs a comparison between ``qacc_smooth`` and
``qacc_warmstart`` to determine which one is utilized for the initialization.
Inertia matrix factorization
----------------------------
When using dense computation, MJWarp's factorization of the inertia matrix ``qLD`` is computed with Warp's ``L'L``
Cholesky factorization
`wp.tile_cholesky <https://nvidia.github.io/warp/language_reference/_generated/warp._src.lang.tile_cholesky.html>`__
and the result is not expected to match MuJoCo's corresponding field because a different reverse-mode ``L'DL`` routine
:ref:`mj_factorM` is utilized.