MuJoCo Warp documentation: sparse Jacobians.

PiperOrigin-RevId: 845342391 Change-Id: I2167faca8a0a70e2c56a8cc329c09b1b9243e44c
2025-12-16 10:41:55 -08:00
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@@ -462,6 +462,12 @@ running its main collision pipeline.

 :ref:`Contact sensors<sensor-contact>` will report the correct information for contacts affecting the physics.

+**Why are Jacobians always dense?**
+
+Sparse Jacobians are not currently implemented and ``Data`` fields: ``ten_J``, ``actuator_moment``, ``flexedge_J``, and
+``efc.J`` are always represented as dense matrices. Support for sparse Jacobians is tracked in GitHub issue
+`#88 <https://github.com/google-deepmind/mujoco_warp/issues/88>`__.
+
 Compilation
 -----------