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Updates for MuJoCo Warp documentation.

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PiperOrigin-RevId: 837027234
Change-Id: Idf7a69b14ce23d5ac5ed36367a14c77a00276846
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Taylor Howell
2025-11-26 02:25:24 -08:00
committed by Copybara-Service
parent a9fe8340bf
commit f2823836a6
1 changed files with 1 additions and 4 deletions
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doc/mjwarp/index.rst
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@@ -256,7 +256,7 @@ Solver iterations
MuJoCo's default solver settings for the maximum numbers of :ref:`solver iterations<option-iterations>` and MuJoCo's default solver settings for the maximum numbers of :ref:`solver iterations<option-iterations>` and
:ref:`linesearch iterations<option-ls_iterations>` are expected to provide reasonable performance. Reducing MJWarp's :ref:`linesearch iterations<option-ls_iterations>` are expected to provide reasonable performance. Reducing MJWarp's
settings :attr:`Option.iterations <mujoco_warp.Option.iterations>` and/or settings :attr:`Option.iterations <mujoco_warp.Option.iterations>` and/or
:attr:`Optiona.ls_iterations <mujoco_warp.Option.ls_iterations>` limits may improve performance and should be secondary :attr:`Option.ls_iterations <mujoco_warp.Option.ls_iterations>` limits may improve performance and should be secondary
considerations after tuning `nconmax`_ / `naconmax`_ and `njmax`_. 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 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 <https://github.com/mujocolab/mjlab/tree/main/docs/api/distributed_training.md>`__ for a `mjlab distributed training <https://github.com/mujocolab/mjlab/tree/main/docs/api/distributed_training.md>`__ for a
reinforcement learning example. reinforcement learning example.
Orientation representation
--------------------------
**How are orientations represented?** **How are orientations represented?**
Orientations are represented as unit quaternions and follow :ref:`MuJoCo's convention <floating-objects>`: Orientations are represented as unit quaternions and follow :ref:`MuJoCo's convention <floating-objects>`: