I think all of OpenAI’s gym environments use Mujoco with rk4, but the engine supports both rk4 and semi implicit euler, and the default is actually Euler. Seem

I think all of OpenAI’s gym environments use Mujoco with rk4, but the engine supports both rk4 and semi implicit euler, and the default is actually Euler. Seems like that is the default for almost all robot focused sims too, see some benchmarks here: https://leggedrobotics.github.io/SimBenchmark/ https://leggedrobotics.github.io/SimBenchmark/