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update mjx make_data and put_data docstrings for njmax

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PiperOrigin-RevId: 958526560
Change-Id: Iaeff307e4d09c9193134fc29689aeedfdcaa9d53
This commit is contained in:
Taylor Howell
2026-08-03 12:48:35 -07:00
committed by Copybara-Service
parent 0bfa4e984c
commit f848b185d3
1 changed files with 2 additions and 2 deletions
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mjx/mujoco/mjx/_src/io.py
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@@ -878,7 +878,7 @@ def make_data(
worlds. Since the number of worlds is **not** pre-defined in JAX, we use the 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 `naccdmax` argument to set the upper bound for the number of contacts
across all worlds, rather than the `nccdmax` argument from MuJoCo Warp. 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 nvmax: capacity for compacted active DOFs per world
keepalive_refs: optional dict to store references to underlying MuJoCo keepalive_refs: optional dict to store references to underlying MuJoCo
objects, preventing them from being garbage collected. Required for CPP 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 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 `naccdmax` argument to set the upper bound for the number of contacts
across all worlds, rather than the `nccdmax` argument from MuJoCo Warp. 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 nvmax: capacity for compacted active DOFs per world
dummy_arg_for_batching: dummy argument to use for batching in cpp dummy_arg_for_batching: dummy argument to use for batching in cpp
implementation implementation