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MuJoCo Warp documentation: How to fix simulation runtime warnings?

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Taylor Howell
2026-01-12 03:16:07 -08:00
committed by Copybara-Service
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@@ -579,6 +579,23 @@ and MJX.
This feature is likely to change in the future.
**How to fix simulation runtime warnings?**
Warnings are provided when memory requirements exceed existing allocations during simulation:
- `nconmax`_ / `njmax`_: The maximum number of contacts / constraints has been exceeded. Increase the value of the
setting by updating the relevant argument to :func:`mjw.make_data <mujoco_warp.make_data>` or
:func:`mjw.put_data <mujoco_warp.put_data>`.
- ``mjw.Option.ccd_iterations``: The convex collision detection algorithm has exceeded the maximum number of iterations.
Increase the value of this setting in the XML / :ref:`mjSpec` / :ref:`mjModel`. Importantly, this change must be made
to the :ref:`mjModel` instance that is provided to :func:`mjw.put_model <mujoco_warp.put_model>` and
:func:`mjw.make_data <mujoco_warp.make_data>` / :func:`mjw.put_data <mujoco_warp.put_data>`.
- ``mjw.Option.contact_sensor_maxmatch``: The maximum number of contact matches for a
:ref:`contact sensor<sensor-contact>`'s matching criteria has been exceeded. Increase the value of this MJWarp-only
setting `m.opt.contact_sensor_maxmatch`. Alternatively, refactor the contact sensor matching criteria, for example if
the 2 geoms of interest are known, specify ``geom1`` and ``geom2``.
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