From d63a89f896f9aa5e268358e5aa5d308f409b937a Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 26 May 2026 07:22:37 -0700
Subject: [PATCH] MJX documentation: update feature parity section

PiperOrigin-RevId: 921452813
Change-Id: Ic33c20688b9875e0d2be8563377a1e009da51fa6
---
 doc/mjx.rst | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/mjx.rst b/doc/mjx.rst
index 0d7f0b2d..0920e153 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -473,7 +473,7 @@ The following table compares feature support between MJX-Warp and MJX-JAX compar
      - All
      - ``CONNECT``, ``WELD``, ``JOINT``, ``TENDON``
    * - :ref:`Integrator <mjtIntegrator>`
-     - All except ``IMPLICIT``
+     - All except ``IMPLICITFAST`` midpoint integrator feature
      - ``EULER``, ``RK4``, ``IMPLICITFAST`` (``IMPLICITFAST`` not supported with :doc:`fluid drag <computation/fluid>`)
    * - :ref:`Cone <mjtCone>`
      - All
@@ -503,8 +503,8 @@ The following table compares feature support between MJX-Warp and MJX-JAX compar
      - Sparse and Dense
      - Sparse and Dense
    * - Jacobian format
-     - ``DENSE`` only
      - ``DENSE`` and ``SPARSE``
+     - ``DENSE`` only
    * - Lights
      - ✓
      - Positions and directions