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Merge pull request #2334 from jjyyxx:patch-3

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Change-Id: Ic388f4dc05389fbe3e5a20b365b27f800d4147ab
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Copybara-Service
2025-01-10 01:12:43 -08:00
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@@ -1607,7 +1607,7 @@ dedicated section :ref:`therein<MjxPerformance>`.
:ref:`Numerical Integration<geIntegration>` section. The default recommended choice is the ``implicitfast`` :ref:`Numerical Integration<geIntegration>` section. The default recommended choice is the ``implicitfast``
integrator. integrator.
3. :ref:`Constraint Jacobians<option-jacobian>`: Try switching the Jacobian setting between "dense" and "sparse". These 3. :ref:`Constraint Jacobians<option-jacobian>`: Try switching the Jacobian setting between "dense" and "sparse". These
two options use seperate code paths using dense or sparse algebra, but are otherwise compationally identical, so the two options use seperate code paths using dense or sparse algebra, but are otherwise computationally identical, so the
faster one is always preferred. The default "auto" heuristic does not always make the right choice. faster one is always preferred. The default "auto" heuristic does not always make the right choice.
4. **Constraint solver:** If the profiler reports that a large chunk of time is spent in the solver, consider the 4. **Constraint solver:** If the profiler reports that a large chunk of time is spent in the solver, consider the
following: following: