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constraint jacobian update for io.put_data #1255

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Merged
thowell merged 1 commit into from
Mar 24, 2026
Merged

constraint jacobian update for io.put_data #1255

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32 changes: 18 additions & 14 deletions mujoco_warp/_src/io.py
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Original file line number Diff line number Diff line change
Expand Up @@ -969,23 +969,27 @@ def put_data(
efc = types.Constraint(**efc_kwargs)

if is_sparse(mjm):
# TODO(team): process efc_J sparsity structure for nv row shift
efc.J_rownnz = wp.array(np.full((nworld, njmax), mjm.nv, dtype=int), dtype=int)
efc.J_rowadr = wp.array(
np.tile(np.arange(0, njmax * mjm.nv, mjm.nv) if mjm.nv else np.zeros(njmax, dtype=int), (nworld, 1)), dtype=int
)
efc.J_colind = wp.array(np.tile(np.arange(mjm.nv), (nworld, njmax)).reshape((nworld, 1, -1))[:, :, :njmax_nnz], dtype=int)

mj_efc_J = np.zeros((mjd.nefc, mjm.nv))
J_rownnz = np.zeros(njmax, dtype=np.int32)
J_rowadr = np.zeros(njmax, dtype=np.int32)
J_colind = np.zeros(njmax_nnz, dtype=np.int32)
J = np.zeros(njmax_nnz, dtype=np.float64)
if mjd.nefc:
if mujoco.mj_isSparse(mjm):
mujoco.mju_sparse2dense(mj_efc_J, mjd.efc_J, mjd.efc_J_rownnz, mjd.efc_J_rowadr, mjd.efc_J_colind)
J_rownnz[: mjd.nefc] = mjd.efc_J_rownnz[: mjd.nefc]
J_rowadr[: mjd.nefc] = mjd.efc_J_rowadr[: mjd.nefc]
nnz = int(mjd.efc_J_rownnz[: mjd.nefc].sum())
J_colind[:nnz] = mjd.efc_J_colind[:nnz]
J[:nnz] = mjd.efc_J[:nnz]
else:
mj_efc_J = mjd.efc_J.reshape((mjd.nefc, mjm.nv))
efc_J = np.zeros((njmax, mjm.nv), dtype=float)
efc_J[: mjd.nefc, : mjm.nv] = mj_efc_J
efc_J_flat = np.tile(efc_J.reshape(-1), (nworld, 1, 1)).reshape((nworld, 1, -1))[:, :, :njmax_nnz]
efc.J = wp.array(efc_J_flat, dtype=float)
dense_J = mjd.efc_J.reshape((-1, mjm.nv))[: mjd.nefc]
mujoco.mju_dense2sparse(
J[: mjd.nefc * mjm.nv], dense_J, J_rownnz[: mjd.nefc], J_rowadr[: mjd.nefc], J_colind[: mjd.nefc * mjm.nv]
)

efc.J_rownnz = wp.array(np.tile(J_rownnz, (nworld, 1)), dtype=int)
efc.J_rowadr = wp.array(np.tile(J_rowadr, (nworld, 1)), dtype=int)
efc.J_colind = wp.array(np.tile(J_colind, (nworld, 1)).reshape((nworld, 1, -1)), dtype=int)
efc.J = wp.array(np.tile(J, (nworld, 1)).reshape((nworld, 1, -1)), dtype=float)
else:
efc.J_rownnz = wp.zeros((nworld, 0), dtype=int)
efc.J_rowadr = wp.zeros((nworld, 0), dtype=int)
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