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Throw an error for margin/gap with meshes.

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PiperOrigin-RevId: 615937263
Change-Id: I3289cf1b1fec93385cc78a01e53866427453db59
This commit is contained in:
Baruch Tabanpour
2024-03-14 16:20:04 -07:00
committed by Copybara-Service
parent 02c62c118c
commit 2386353b02
7 changed files with 73 additions and 33 deletions
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doc/changelog.rst
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@@ -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)
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