How to set the maximum number of contacts with Gazebo?


I am using dart as physics engine for Gazebo 9. I need to reduce the maximum number of contacts between two colliding body. In the sdf documentation, there is a “max_contacts” parameter which should set this. However, I suspect it only work with ode physics engine, because I tested different values with dart and there was no effect on the actual number of contacts.

How can I set the maximum number of contacts from a sdf file, if possible ? If it is not implemented, is there any plan for the implementation of this feature ?

thank you for your answer.

Since this is more specific to Gazebo, which has a significantly larger community, I recommend directing the question to the Gazebo forum:

Ok, thanks, I posted my question on gazebo forum. If I receive any answer, i will post the link here.