From f2823836a66eec25a64cf394fdce5d8bb225f3f7 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Wed, 26 Nov 2025 02:25:24 -0800 Subject: [PATCH] Updates for MuJoCo Warp documentation. PiperOrigin-RevId: 837027234 Change-Id: Idf7a69b14ce23d5ac5ed36367a14c77a00276846 --- doc/mjwarp/index.rst | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index 2f4fd5df..fc5bfd48 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -256,7 +256,7 @@ Solver iterations MuJoCo's default solver settings for the maximum numbers of :ref:`solver iterations` and :ref:`linesearch iterations` are expected to provide reasonable performance. Reducing MJWarp's settings :attr:`Option.iterations ` and/or -:attr:`Optiona.ls_iterations ` limits may improve performance and should be secondary +:attr:`Option.ls_iterations ` limits may improve performance and should be secondary considerations after tuning `nconmax`_ / `naconmax`_ and `njmax`_. Reducing these limits too much may prevent the constraint solver from converging and can lead to inaccurate or unstable @@ -418,9 +418,6 @@ for details and `mjlab distributed training `__ for a reinforcement learning example. -Orientation representation --------------------------- - **How are orientations represented?** Orientations are represented as unit quaternions and follow :ref:`MuJoCo's convention `: