MuJoCo internally does not impose a limit on the number of plugin attributes a plugin can declare, but mjwarp currently truncates it to at most 3 silently. The truncation itself is understandable due to warp or kernel programming limitations, but 3 is often too small to hold all attributes of a configurable SDF.

Is it possible to avoid sticking to vec3f dtype, and make the inner dimension configurable or inferred from mjModel?