diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index 8a3cc9f3..b9a46554 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -462,6 +462,12 @@ running its main collision pipeline. :ref:`Contact sensors` 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 `__. + Compilation -----------