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Make JacobianType.auto switch to sparse in put_model #234

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Merged
merged 3 commits into from
May 12, 2025
Merged

Make JacobianType.auto switch to sparse in put_model #234

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da6228b
make jac_auto switch to sparse
adenzler-nvidia May 9, 2025
0b6e80e
remove old test
adenzler-nvidia May 9, 2025
bfa976b
review feedback
adenzler-nvidia May 9, 2025
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2 changes: 1 addition & 1 deletion mujoco_warp/_src/io.py
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:

# 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 mjm.opt.jacobian == mujoco.mjtJacobian.mjJAC_DENSE:
raise ValueError(f"Dense is unsupported for nv > {nv_max} (nv = {mjm.nv}).")

# calculate some fields that cannot be easily computed inline
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21 changes: 16 additions & 5 deletions mujoco_warp/_src/io_test.py
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Expand Up @@ -89,11 +89,6 @@ def test_geom_type(self):
with self.assertRaises(NotImplementedError):
mjwarp.put_model(mjm)

def test_dense(self):
with self.assertRaises(ValueError):
# dense not supported yet for large nv
test_util.fixture("humanoid/n_humanoids.xml")

def test_actuator_trntype(self):
mjm = mujoco.MjModel.from_xml_string("""
<mujoco>
Expand Down Expand Up @@ -243,6 +238,22 @@ def test_option_physical_constants(self):
with self.assertRaises(NotImplementedError):
mjwarp.put_model(mjm)

def test_jacobian_auto(self):
mjm = mujoco.MjModel.from_xml_string("""
<mujoco>
<option jacobian="auto"/>
<worldbody>
<replicate count="11">
<body>
<geom type="sphere" size=".1"/>
<freejoint/>
</body>
</replicate>
</worldbody>
</mujoco>
""")
mjwarp.put_model(mjm)


if __name__ == "__main__":
wp.init()
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