chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #3116 from StafaH:render_doc_fix

Browse Source 
PiperOrigin-RevId: 872799423
Change-Id: Iafd5f05264043cb2060f147c4c047ba849b28475
This commit is contained in:
Copybara-Service
2026-02-20 02:22:32 -08:00
parent f0bf403254 3c5986fe50
commit a79747334b
1 changed files with 11 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/mjwarp/index.rst
+11 -11
View File
@@ -467,9 +467,9 @@ subset of fields.
Batch Rendering
===============
MJWarp provides a high-throughput ray-tracing batch renderer built on
MJWarp provides a batch renderer for high-throughput ray tracing built on
`Warp's accelerated BVHs <https://nvidia.github.io/warp/api_reference/_generated/warp.Bvh.html#warp.Bvh>`__ for
rendering worlds with multiple cameras in parallel on device.
rendering worlds with multiple cameras in parallel.
Key features:
@@ -490,8 +490,8 @@ Key features:
Basic Usage
----------
Rendering or raycasting requires a :class:`mjw.RenderContext <mujoco_warp.RenderContext>` which contains BVH structures
and rendering and output buffers.
Rendering or raycasting requires a :class:`mjw.RenderContext <mujoco_warp.RenderContext>` which contains BVH structures,
rendering specific fields, and output buffers.
.. code-block:: python
@@ -526,9 +526,9 @@ followed by :func:`mjw.render <mujoco_warp.render>` to write to output buffers.
mjw.render(m, d, rc)
The output buffers contain stacked pixels for all cameras with shape `(nworld, npixel)` and RGB data is
packed into one `unit32` variable. `RenderContext.rgb_adr` and `RenderContext.depth_adr` provide per-camera indexing.
packed into one `uint32` variable. `RenderContext.rgb_adr` and `RenderContext.depth_adr` provide per-camera indexing.
For convenience, :func:`mjw.get_rgb <mujoco_warp.get_rgb>` and :func:`mjw.get_depth <mujoco_warp.get_depth>`
provide per-camera batched post-processing.
return processed and reshaped RGB and depth data for a given camera batched for all worlds.
.. code-block:: python
@@ -555,12 +555,12 @@ For benchmark results across a variety of scenes, see the
Notes
-----
- **Meshes**: Rendering computation scales with mesh complexity. A primitive is expected to have better
performance (i.e., higher throughput) compared to a similar sized :ref:`mesh<body-geom-mesh>` or
:ref:`heightfield <body-geom-hfield>`.
- **Flex**: Currently limited to 2D and 3D :ref:`flex<deformable-flex>` objects. Performance is expected to improved as
- **Meshes**: Rendering computation scales with mesh complexity, specifically the number of vertices and faces. A
primitive is expected to have better performance (i.e., higher throughput) compared to a similar-sized
:ref:`mesh<body-geom-mesh>` or :ref:`heightfield <body-geom-hfield>`.
- **Flex**: Currently limited to 2D and 3D :ref:`flex<deformable-flex>` objects. Performance is expected to improve as
this feature is further developed.
- **Scaling**: Rendering scales linearly with resolution (total number of pixels) and number of cameras.
- **Scaling**: Rendering scales linearly with resolution (total pixel count) and camera count.
.. _mjwFAQ: