diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index ca4d6bae..8a3cc9f3 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -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 `__. +**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` 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` will report the correct information for contacts affecting the physics. + Compilation -----------