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MuJoCo Warp documentation: height field collision overflow

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PiperOrigin-RevId: 862454467
Change-Id: Iaccc44aa0c57faf6ad2dbc62f2b727cea2e4980d
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Taylor Howell
2026-01-28 16:53:17 -08:00
committed by Copybara-Service
parent 86f82d18a2
commit 57b5ebc92b
1 changed files with 3 additions and 1 deletions
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doc/mjwarp/index.rst
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@@ -624,11 +624,13 @@ Warnings are provided when memory requirements exceed existing allocations durin
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``.
- ``height field collision overflow``: The number of potential contacts generated by a height field exceeds
:ref:`mjMAXCONPAIR <glNumeric>` and some contacts are ignored. To resolve this warning, reduce the height field
resolution or reduce the size of the geom interacting with the height field.
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