diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py index 480db62c..5e761350 100644 --- a/mjx/mujoco/mjx/_src/io.py +++ b/mjx/mujoco/mjx/_src/io.py @@ -878,7 +878,7 @@ def make_data( worlds. Since the number of worlds is **not** pre-defined in JAX, we use the `naccdmax` argument to set the upper bound for the number of contacts across all worlds, rather than the `nccdmax` argument from MuJoCo Warp. - njmax: maximum number of constraints to allocate for warp across all worlds + njmax: maximum number of constraints to allocate per world nvmax: capacity for compacted active DOFs per world keepalive_refs: optional dict to store references to underlying MuJoCo objects, preventing them from being garbage collected. Required for CPP @@ -1237,7 +1237,7 @@ def put_data( worlds. Since the number of worlds is **not** pre-defined in JAX, we use the `naccdmax` argument to set the upper bound for the number of contacts across all worlds, rather than the `nccdmax` argument from MuJoCo Warp. - njmax: maximum number of constraints to allocate for warp + njmax: maximum number of constraints per world nvmax: capacity for compacted active DOFs per world dummy_arg_for_batching: dummy argument to use for batching in cpp implementation