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Fix typos in MuJoCo documentation.

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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
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Google DeepMind
2024-07-25 13:30:10 -07:00
committed by Copybara-Service
parent 5ac5cfb618
commit 70d70bc3b7
11 changed files with 20 additions and 20 deletions
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doc/computation/index.rst
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@@ -1328,7 +1328,7 @@ representations of the constraint Jacobian and related matrices.
**PGS** : Projected Gauss-Seidel method
This is the most common algorithm used in physics simulators, and used to be the default in MuJoCo, until we
developed the Newton method which appears to be better in every way. PGS uses the dual formulation. Unlike
gradient-based method which improve the solution along oblique directions, Gauss-Seidel works on one scalar component
gradient-based methods which improve the solution along oblique directions, Gauss-Seidel works on one scalar component
at a time, and sets it to its optimal value given the current values of all other components. One sweep of PGS has
the computational complexity of one matrix-vector multiplication (although the constants are larger). It has
first-order convergence but nevertheless makes rapid progress in a few iterations.