Make JacobianType.auto switch to sparse in put_model #234
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thowell
reviewed
May 9, 2025
mujoco_warp/_src/io.py
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| @@ -64,7 +64,7 @@ def put_model(mjm: mujoco.MjModel) -> types.Model: | |||
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| # TODO(team): remove after solver._update_gradient for Newton solver utilizes tile operations for islands | |||
| nv_max = 60 | |||
| if mjm.nv > nv_max and (not mjm.opt.jacobian == mujoco.mjtJacobian.mjJAC_SPARSE): | |||
| if mjm.nv > nv_max and (not mjm.opt.jacobian >= int(mujoco.mjtJacobian.mjJAC_SPARSE)): | |||
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it looks like Model.is_sparse is set utilizing mujoco.mj_isSparse
mujoco_warp/mujoco_warp/_src/io.py
Line 287 in e1604a1
so the
mjJAC_AUTO case should be handled by the is_sparse field.
can we make the check here if mjm.nv > nv_max and mjm.opt.jacobian == mujoco.mjtJacobian.mjJAC_DENSE?
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yeah we can do that, it's just some boolean algebra. I agree it's clearer. Thanks.
thowell
approved these changes
May 9, 2025
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This is no solution for #88 - but I think we should at least switch to sparse automatically if the user has set the option to auto.