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MuJoCo Warp documentation: Warmstart.

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Taylor Howell
2026-01-15 04:49:31 -08:00
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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 Yes. Please see Warp's
`Ahead-of-Time Compilation Workflows <https://nvidia.github.io/warp/codegen.html#ahead-of-time-compilation-workflows>`__ `Ahead-of-Time Compilation Workflows <https://nvidia.github.io/warp/codegen.html#ahead-of-time-compilation-workflows>`__
documentation for details. 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.