diff --git a/mjpc/task.cc b/mjpc/task.cc
index 4e4c4a6bf..b57e2d27a 100644
--- a/mjpc/task.cc
+++ b/mjpc/task.cc
@@ -88,9 +88,16 @@ void Task::GetFrom(const mjModel* model) {
                num_norm_parameters[num_norms]);
       parameter_shift += num_norm_parameters[num_norms];
       num_norms += 1;
+
+      // check for max norms
+      if (num_norms > kMaxCostTerms) {
+        mju_error("Number of cost terms exceeds maximum. Either: 1) reduce number of terms 2) increase kMaxCostTerms");
+      }
     }
   }
 
+
+
   // set residual parameters
   this->SetFeatureParameters(model);
 }
diff --git a/mjpc/task.h b/mjpc/task.h
index 37884afac..263e62ad6 100644
--- a/mjpc/task.h
+++ b/mjpc/task.h
@@ -26,7 +26,7 @@ namespace mjpc {
 inline constexpr double kRiskNeutralTolerance = 1.0e-6;
 
 // maximum cost terms
-inline constexpr int kMaxCostTerms = 10;
+inline constexpr int kMaxCostTerms = 30;
 
 using ResidualFunction = void(const double* parameters, const mjModel* model,
                               const mjData* data, double* residual);