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PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
This commit is contained in:
Yuval Tassa
2023-05-07 02:09:30 -07:00
committed by Copybara-Service
parent f204e03575
commit ff1fa84d32
7 changed files with 74 additions and 77 deletions
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doc/computation.rst
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@@ -1290,8 +1290,7 @@ representations of the constraint Jacobian and related matrices.
**Newton** : Newton's method
This algorithm implements the exact Newton method, with analytical second-order derivatives and Cholesky
factorization of the Hessian. The line-search is the same as in the CG method. This is the default solver as of
MuJoCo 1.50.
factorization of the Hessian. The line-search is the same as in the CG method. It is the default solver.
**PGS** : Projected Gauss-Seidel method
This is the most common algorithm used in physics simulators, and used to be the default in MuJoCo, until we