constraint jacobian update for io.put_data#1255
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thowell merged 1 commit intogoogle-deepmind:mainfrom Mar 24, 2026
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refactor
io.put_datafor constraint jacobianmjDatainstance's sparse representation instead of constructing a dense representation to populateDatafieldsefc_J(dense) is not always shape(nefc, nv)-- it can be overallocated. this update should support cases whereefc_Jhas less active constraints than memory allocated for constraints.