How to Use NVIDIA Warp and MjWarp to Accelerate Robotics Simulation and Learning Workflows

This post introduces MJWarp, a NVIDIA Warp implementation of MuJoCo physics that enables GPU acceleration for robotics simulation. It details the migration workflow from classic MuJoCo to MJWarp, including converting MuJoCo models and data to batched GPU arrays and using `mjw.step` to advance simulation states. The article highlights the differentiability and determinism properties of NVIDIA Warp, and discusses performance tuning and validation steps for achieving high aggregate throughput in large-scale simulation environments.