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MuJoCo Warp documentation: Option.contact_sensor_maxmatch information.

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Change-Id: I29b11784998d3461ad1d460a6c23cad66df22202
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Taylor Howell
2025-11-25 07:57:06 -08:00
committed by Copybara-Service
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@@ -277,6 +277,15 @@ contacts per sensor :attr:`Option.contact_sensor_max_match <mujoco_warp.Option.c
performance, the value of this parameter should be as small as possible while ensuring the simulation does not exceed
the limit. Matched contacts that exceed this limit will be ignored.
The value of this parameter can be set directly, for example ``model.opt.contact_sensor_maxmatch = 16``, or via an XML
custom numeric field
.. code-block:: xml
<custom>
<numeric name="contact_sensor_maxmatch" data="16"/>
</custom>
Similar to the maximum numbers of contacts and constraints, a good value for this setting is expected to be environment
specific. :func:`mjwarp-testspeed <mujoco_warp.testspeed>` and :func:`mjwarp-viewer <mujoco_warp.viewer>` may be useful
for tuning the value of this parameter.