From f848b185d3bc65392414a69969888fb76b02684e Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Mon, 3 Aug 2026 12:48:35 -0700 Subject: [PATCH] update mjx make_data and put_data docstrings for njmax PiperOrigin-RevId: 958526560 Change-Id: Iaeff307e4d09c9193134fc29689aeedfdcaa9d53 --- mjx/mujoco/mjx/_src/io.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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