MuJoCo Warp documentation: Collision sensors.

PiperOrigin-RevId: 844695759 Change-Id: I98cc6f127527a8d05b02cf5b06038bba2d03fae0
2025-12-15 03:36:19 -08:00
parent b64b527e13
commit f0572c735a
1 changed files with 9 additions and 0 deletions
@@ -453,6 +453,15 @@ Orientations are represented as unit quaternions and follow :ref:`MuJoCo's conve
 No. Updates for this feature are tracked in this
 `GitHub issue <https://github.com/google-deepmind/mujoco_warp/issues/884>`__.

+**Why are contacts reported when there are no collisions?**
+
+1 contact will be reported for each unique geom pair that contributes to any collision sensor, even if this geom pair is
+not in collision. Unlike MuJoCo or MJX where :ref:`collision sensors<collision-sensors>` make separate calls to
+collision routines while computing sensor data, MJWarp computes and stores the data for these sensors in contacts while
+running its main collision pipeline.
+
+:ref:`Contact sensors<sensor-contact>` will report the correct information for contacts affecting the physics.
+
 Compilation
 -----------