Collision attribute of the option element is referenced, but it does not exist

[salehrayan]

I was trying to optimize my model for MJX on GPU according to this by making pre defined contact pairs.

The contact/pair section in XML Reference says:

This element creates a predefined geom pair, which will be checked for collision if the collision attribute of option is set to “all” or “predefined”.

This attribute is referenced a few times but it does not exist in documentation. And parsing an XML with this attribute included will return the usual attribute-not-existing error.

Also according to my testing, the predefined collision pairs will not be the only collisions checked.
If you have any alternatives for my task I would appreciate it.

[yuvaltassa]

Ah ya, we need to fix that in the MJX docs. Thanks for bringing that to our attention.

This attribute has been removed, you can disable non-pair contacts in the usual way:

<default>
  <geom contype="0" conaffinity="0"/>
</default>