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Update mjwarp/index.rst.

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Change-Id: I427a0476eb1530b53539d787c0b79aaf45f889d5
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Taylor Howell
2025-11-03 02:17:48 -08:00
committed by Copybara-Service
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@@ -10,10 +10,13 @@ MuJoCo Warp (MJWarp)
API <api.rst> API <api.rst>
MuJoCo Warp (MJWarp) is an implementation of MuJoCo written in `Warp <https://nvidia.github.io/warp/>`__ and optimized MuJoCo Warp (MJWarp) is an implementation of MuJoCo written in `Warp <https://nvidia.github.io/warp/>`__ and optimized
for `Nvidia <https://nvidia.com>`__ hardware and parallel simulation. MJWarp lives in the for `NVIDIA <https://nvidia.com>`__ hardware and parallel simulation. MJWarp lives in the
`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository and is currently in `google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository and is currently in
beta. beta.
MJWarp is developed and maintained as a joint effort by `NVIDIA <https://nvidia.com>`__ and
`Google DeepMind <https://deepmind.google/>`__.
.. TODO: remove after release .. TODO: remove after release
.. admonition:: Beta software .. admonition:: Beta software
@@ -31,7 +34,7 @@ Installation
============ ============
The beta version of MuJoCo Warp is installed from GitHub. Please note that the beta version of MuJoCo Warp does not The beta version of MuJoCo Warp is installed from GitHub. Please note that the beta version of MuJoCo Warp does not
support all versions of MuJoCo, Warp, CUDA, Nvidia drivers, etc. support all versions of MuJoCo, Warp, CUDA, NVIDIA drivers, etc.
.. code-block:: shell .. code-block:: shell
@@ -59,7 +62,7 @@ available directly from the top-level ``mjw`` module.
Structs Structs
------- -------
Before running MJWarp functions on an Nvidia GPU, structs must be copied onto the device via ``mjw.put_model`` and Before running MJWarp functions on an NVIDIA GPU, structs must be copied onto the device via ``mjw.put_model`` and
``mjw.make_data`` or ``mjw.put_data`` functions. Placing an :ref:`mjModel` on device yields an ``mjw.Model``. Placing ``mjw.make_data`` or ``mjw.put_data`` functions. Placing an :ref:`mjModel` on device yields an ``mjw.Model``. Placing
an :ref:`mjData` on device yields an ``mjw.Data``: an :ref:`mjData` on device yields an ``mjw.Data``:
@@ -92,7 +95,7 @@ MJWarp is optimized for parallel simulation. A batch of simulations can be speci
``njmax``. ``njmax``.
Functions Functions
_________ ---------
MuJoCo functions are exposed as MJWarp functions of the same name, but following MuJoCo functions are exposed as MJWarp functions of the same name, but following
`PEP 8 <https://peps.python.org/pep-0008/>`__-compliant names. Most of the :ref:`main simulation <Mainsimulation>` and `PEP 8 <https://peps.python.org/pep-0008/>`__-compliant names. Most of the :ref:`main simulation <Mainsimulation>` and