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Fix typo.

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PiperOrigin-RevId: 730410150
Change-Id: I0b2de4aea15cb630585f8c15dc29f368729adc3e
This commit is contained in:
Yuval Tassa
2025-02-24 05:24:37 -08:00
committed by Copybara-Service
parent 21fa8286f4
commit cf1784bb79
1 changed files with 3 additions and 3 deletions
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doc/computation/index.rst
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@@ -520,10 +520,10 @@ Solving for :math:`v_{t+h}`, we obtain the implicit-in-velocity update
\widehat{M} &\equiv M-h D \widehat{M} &\equiv M-h D
\end{aligned} \end{aligned}
.. _geIntergrators: .. _geIntegrators:
Intergrators Integrators
^^^^^^^^^^^^ ^^^^^^^^^^^
MuJoCo supports four integrators: three single-step integrators and the multi-step 4th order Runge-Kutta integrator. MuJoCo supports four integrators: three single-step integrators and the multi-step 4th order Runge-Kutta integrator.
All three single-step integrators in MuJoCo use the update :eq:`eq_implicit_update`, with different definitions of the All three single-step integrators in MuJoCo use the update :eq:`eq_implicit_update`, with different definitions of the
:math:`D` matrix, which is always computed analytically. :math:`D` matrix, which is always computed analytically.