From e95f46f84a5f3363ae5863cefacb35428bd838f5 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Tue, 16 Dec 2025 10:41:55 -0800 Subject: [PATCH] MuJoCo Warp documentation: sparse Jacobians. PiperOrigin-RevId: 845342391 Change-Id: I2167faca8a0a70e2c56a8cc329c09b1b9243e44c --- doc/mjwarp/index.rst | 6 ++++++ 1 file changed, 6 insertions(+) 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 -----------