MuJoCo Warp documentation: Warmstart.

PiperOrigin-RevId: 856608941 Change-Id: Iae1bd0a3916d98affff4d5dbb442f9d951622e52
2026-01-15 04:49:31 -08:00
parent c92746641d
commit d86acd7e12
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@@ -622,3 +622,15 @@ can be accomplished by deleting the directory ``~/.cache/warp`` or via Python
 Yes. Please see Warp's
 `Ahead-of-Time Compilation Workflows <https://nvidia.github.io/warp/codegen.html#ahead-of-time-compilation-workflows>`__
 documentation for details.
+
+Differences from MuJoCo
+=======================
+
+This section notes differences between MJWarp and MuJoCo.
+
+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.