Throw an error for margin/gap with meshes.

PiperOrigin-RevId: 615937263
Change-Id: I3289cf1b1fec93385cc78a01e53866427453db59

doc/changelog.rst

@@ -11,6 +11,7 @@ MJX
 1. Improved performance of SAT for convex collisions.
 2. Fixed bug for sphere/capsule-convex deep penetration.
 3. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
+4. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
 
 Version 3.1.3 (March 5th, 2024)
 -----------------------------------

doc/mjx.rst

@@ -215,6 +215,14 @@ The following features are **in development** and coming soon:
 
    * - Category
      - Feature
+   * - :ref:`Geom <mjtGeom>`
+     - ``SDF``, ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``
+   * - :ref:`Condim <coContact>`
+     - 1, 4, 6
+   * - :ref:`Constraint <mjtConstraint>`
+     - :ref:`Frictionloss <coFriction>`, ``CONTACT_FRICTIONLESS``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
+   * - :ref:`Integrator <mjtIntegrator>`
+     - ``IMPLICIT``, ``IMPLICITFAST``
    * - Dynamics
      - :ref:`Inverse <mj_inverse>`
    * - :ref:`Transmission <mjtTrn>`
@@ -227,16 +235,8 @@ The following features are **in development** and coming soon:
      - ``MUSCLE``
    * - :ref:`Tendon Wrapping <mjtWrap>`
      - ``NONE``, ``JOINT``, ``PULLEY``, ``SITE``, ``SPHERE``, ``CYLINDER``
-   * - :ref:`Geom <mjtGeom>`
-     - ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``
-   * - :ref:`Constraint <mjtConstraint>`
-     - :ref:`Frictionloss <coFriction>`, ``CONTACT_FRICTIONLESS``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
-   * - :ref:`Integrator <mjtIntegrator>`
-     - ``IMPLICIT``, ``IMPLICITFAST``
    * - :ref:`Cone <mjtCone>`
      - ``ELLIPTIC``
-   * - :ref:`Condim <coContact>`
-     - 1, 4, 6
    * - Fluid Model
      - :ref:`flEllipsoid`
    * - :ref:`Tendons <tendon>`
@@ -258,6 +258,8 @@ The following features are **unsupported**:
 
    * - Category
      - Feature
+   * - :ref:`margin<body-geom-margin>` and :ref:`gap<body-geom-gap>`
+     - Unimplemented for collisions with ``Mesh`` :ref:`Geom <mjtGeom>`.
    * - :ref:`Transmission <mjtTrn>`
      - ``TRN_JOINTINPARENT``, ``TRN_SLIDERCRANK``, ``TRN_BODY``
    * - :ref:`Actuator Dynamics <mjtDyn>`
@@ -270,8 +272,6 @@ The following features are **unsupported**:
      - ``PGS``
    * - :ref:`Sensors <mjtSensor>`
      - ``PLUGIN``, ``USER``
-   * - :ref:`Geom <mjtGeom>`
-     - ``SDF``
 
 .. _MjxSharpBits: