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Fix syntax bug in simulation.rst

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PiperOrigin-RevId: 729710215
Change-Id: I49899ed50d5e97a2c5ad35e5de2e93186b7c64ec
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Yuval Tassa
2025-02-21 17:28:08 -08:00
committed by Copybara-Service
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doc/programming/simulation.rst
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@@ -615,6 +615,7 @@ essential to keep it in mind at all times. All MuJoCo utility functions that ope
difference between row-major and column-major formats.
.. TODO(tassa): update this section when qM is migrated to CSR.
When possible, MuJoCo exploits sparsity. This can make all the difference between O(N) and O(N^3) scaling. The inertia
matrix ``mjData.qM`` and its LTDL factorization ``mjData.qLD`` are always represented as sparse. ``qM`` uses a custom
indexing format designed for matrices that correspond to tree topology, while ``qLD`` uses the standard CSR format.