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Sparse tendon Jacobian update for MuJoCo Warp

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PiperOrigin-RevId: 872550625
Change-Id: Ifc5afacb048bec36ef6455072b188396db958002
This commit is contained in:
Taylor Howell
2026-02-19 13:51:54 -08:00
committed by Copybara-Service
parent 86bca81d18
commit fe50efd41a
1 changed files with 3 additions and 7 deletions
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mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py
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+3 -7
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@@ -952,13 +952,9 @@ def put_data(
d.flexedge_J = wp.array(np.tile(mjd.flexedge_J.reshape(-1), (nworld, 1)).reshape((nworld, 1, -1)), dtype=float)
if mujoco.mj_isSparse(mjm):
ten_J = np.zeros((mjm.ntendon, mjm.nv))
mujoco.mju_sparse2dense(ten_J, mjd.ten_J.reshape(-1), mjd.ten_J_rownnz, mjd.ten_J_rowadr, mjd.ten_J_colind.reshape(-1))
d.ten_J = wp.array(np.full((nworld, mjm.ntendon, mjm.nv), ten_J), dtype=float)
else:
ten_J = mjd.ten_J.reshape((mjm.ntendon, mjm.nv))
d.ten_J = wp.array(np.full((nworld, mjm.ntendon, mjm.nv), ten_J), dtype=float)
ten_J = np.zeros((mjm.ntendon, mjm.nv))
mujoco.mju_sparse2dense(ten_J, mjd.ten_J.reshape(-1), mjd.ten_J_rownnz, mjd.ten_J_rowadr, mjd.ten_J_colind.reshape(-1))
d.ten_J = wp.array(np.full((nworld, mjm.ntendon, mjm.nv), ten_J), dtype=float)
# TODO(taylorhowell): sparse actuator_moment
actuator_moment = np.zeros((mjm.nu, mjm.nv))