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mujoco warp documentation: batched model fields graph capture warning

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Taylor Howell
2025-12-15 15:34:02 +00:00
parent 52ca07e210
commit 8e39d50496
1 changed files with 8 additions and 2 deletions
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doc/mjwarp/index.rst
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@@ -328,8 +328,14 @@ To enable batched simulation with different model parameter values, many :class:
have a leading batch dimension. By default, the leading dimension is 1 (i.e., ``field.shape[0] == 1``) and the same have a leading batch dimension. By default, the leading dimension is 1 (i.e., ``field.shape[0] == 1``) and the same
value(s) will be applied to all worlds. It is possible to override one of these fields with a ``wp.array`` that has a value(s) will be applied to all worlds. It is possible to override one of these fields with a ``wp.array`` that has a
leading dimension greater than one. This field will be indexed with a modulo operation of the world id and batch leading dimension greater than one. This field will be indexed with a modulo operation of the world id and batch
dimension: ``field[worldid % field.shape[0]]``. Importantly, the field shape should be overridden prior to dimension: ``field[worldid % field.shape[0]]``.
:ref:`graph capture <mjwGC>` (i.e., ``wp.ScopedCapture``)
.. admonition:: Graph capture
:class: warning
The field array should be overridden prior to
:ref:`graph capture <mjwGC>` (i.e., ``wp.ScopedCapture``)
since the update will not be applied to an existing graph.
.. code-block:: python .. code-block:: python