From f554b38c3639b45827360f1707fe1b8051133c76 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 21 Feb 2025 17:28:08 -0800 Subject: [PATCH] Fix syntax bug in `simulation.rst` PiperOrigin-RevId: 729710215 Change-Id: I49899ed50d5e97a2c5ad35e5de2e93186b7c64ec --- doc/programming/simulation.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/doc/programming/simulation.rst b/doc/programming/simulation.rst index 014c22cf..3739f548 100644 --- a/doc/programming/simulation.rst +++ b/doc/programming/simulation.rst @@ -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.