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Merge pull request #3156 from andrewkaufman:newton-schemas

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PiperOrigin-RevId: 925328794
Change-Id: If45b8659ea9b88785660331bca5ee837ac172f67
This commit is contained in:
Copybara-Service
2026-06-02 07:06:59 -07:00
parent 4cf4a5665d fc2237dad8
commit 15cbc8fb55
13 changed files with 635 additions and 116 deletions
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include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
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@@ -323,6 +323,8 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// MARGIN
// --------------------------------------------------------------------- //
/// DEPRECATED: Use newton:contactMargin and newton:contactGap instead.
///
/// Geometric inflation of the geom surface for the purpose of contact force
/// generation.
///
@@ -348,6 +350,8 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// GAP
// --------------------------------------------------------------------- //
/// DEPRECATED: Use newton:contactGap instead.
///
/// Additional contact detection buffer beyond margin. Contacts are detected
/// at distance margin + gap but forces are only generated at distance margin.
///