MuJoCo Warp documentation: Why are numerical results from MJWarp and MuJoCo different?.

PiperOrigin-RevId: 853696967 Change-Id: I0cf8539e341d2aa1cfd07ac75de18128ce9beb3b
2026-01-08 05:33:25 -08:00
parent 765bd54c7c
commit ab939683bc
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@@ -498,6 +498,14 @@ size ``Data.nworld``. Some :class:`mjw.Model <mujoco_warp.Model>` fields having
 Additionally, certain fields including ``Model.qM``, ``Data.efc.J``, and ``Data.efc.D`` are padded to enable fast
 loading on GPU.

+**Why are numerical results from MJWarp and MuJoCo different?**
+
+MJWarp utilizes `float <https://nvidia.github.io/warp/modules/functions.html#warp.float32>`__s in contrast to MuJoCo's
+default double representation for :ref:`mjtNum`. Solver settings, including iterations, collision detection, and small
+friction values may be sensitive to differences in floating point representation.
+
+If you encounter unexpected results, including NaNs, please open a GitHub issue.
+
 Compilation
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