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Margin and gap redesign (breaking change)

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PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
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Yuval Tassa
2026-05-12 09:43:07 -07:00
committed by Copybara-Service
parent 7f5be412a0
commit a4e49f2dff
29 changed files with 2082 additions and 178 deletions
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doc/XMLreference.rst
+27 -24
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@@ -376,8 +376,8 @@ adjust it properly through the XML.
:at:`o_margin`: :at-val:`real, "0"`
This attribute replaces the margin parameter of all active contact pairs when :ref:`Contact override <COverride>` is
enabled. Otherwise MuJoCo uses the element-specific margin attribute of :ref:`geom<body-geom>` or
:ref:`pair<contact-pair>` depending on how the contact pair was generated. See also :ref:`Collision` in the
Computation chapter. The related gap parameter does not have a global override.
:ref:`pair<contact-pair>` depending on how the contact pair was generated. See :ref:`margin and gap<coMarginGap>` in
the Computation chapter. The related gap parameter does not have a global override.
.. _option-o_solref:
.. _option-o_solimp:
@@ -2702,18 +2702,20 @@ helps clarify the role of bodies and geoms in MuJoCo.
.. _body-geom-margin:
:at:`margin`: :at-val:`real, "0"`
Distance threshold below which contacts are detected and included in the global array mjData.contact. This however
does not mean that contact force will be generated. A contact is considered active only if the distance between the
two geom surfaces is below margin-gap. Recall that constraint impedance can be a function of distance, as explained
in :ref:`CSolver`. The quantity this function is applied to is the distance between
the two geoms minus the margin plus the gap.
Geometric inflation of the geom surface for the purpose of contact force generation. When the distance between two
geom surfaces is below ``margin``, the contact is considered active and contact forces are generated. The constraint
impedance can be a function of distance, as explained in :ref:`CSolver`. The quantity this function is applied to is
the distance between the two geoms minus the ``margin``. See :ref:`margin and gap<coMarginGap>`.
.. _body-geom-gap:
:at:`gap`: :at-val:`real, "0"`
This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the
constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is
positive, geom distances between margin and margin-gap correspond to such inactive contacts.
Additional contact detection buffer beyond ``margin``. When this value is positive, contacts are detected at
distance ``margin + gap`` but forces are only generated at distance ``margin``. Contacts with distance between
``margin`` and ``margin + gap`` are included in ``mjData.contact`` as inactive contacts (with ``efc_address`` = -1).
These inactive contacts can be used for custom computations, for example by :ref:`adhesion<actuator-adhesion>`
actuators which use contacts in the gap zone to generate adhesive forces without producing contact forces.
See :ref:`margin and gap<coMarginGap>`.
.. _body-geom-fromto:
@@ -4110,14 +4112,15 @@ friction can only be created with this element.
.. _contact-pair-margin:
:at:`margin`: :at-val:`real, "0"`
Distance threshold below which contacts are detected and included in the global array mjData.contact.
Geometric inflation for the purpose of contact force generation. Contacts are detected at distance ``margin + gap``
and forces are generated at distance ``margin``.
.. _contact-pair-gap:
:at:`gap`: :at-val:`real, "0"`
This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the
constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is
positive, geom distances between margin and margin-gap correspond to such inactive contacts.
Additional contact detection buffer beyond ``margin``. When this value is positive, contacts with distance between
``margin`` and ``margin + gap`` are included in ``mjData.contact`` as inactive contacts but no contact forces are
generated.
.. _contact-exclude:
@@ -6286,16 +6289,16 @@ This element has nine custom attributes in addition to the common attributes:
This element defines an active adhesion actuator which injects forces at contacts in the normal direction, see
illustration video. The model shown in the video can be found `here
<https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`_ and includes inline annotations. The transmission target
is a :el:`body`, and adhesive forces are injected into all contacts involving geoms which belong to this body. The force
is divided equally between multiple contacts. When the :at:`gap` attribute is not used, this actuator requires active
contacts and cannot apply a force at a distance, more like the active adhesion on the feet of geckos and insects rather
than an industrial vacuum gripper. In order to enable "suction at a distance", "inflate" the body's geoms by
:at:`margin` and add a corresponding :at:`gap` which activates contacts only after :at:`gap` penetration distance. This
will create a layer around the geom where contacts are detected but are inactive, and can be used for
applying the adhesive force. In the video above, such inactive contacts are blue, while active contacts are orange.
An adhesion actuator's length is always 0. :at:`ctrlrange` is required and must also be nonnegative (no repulsive forces
are allowed). The underlying :el:`general` attributes are set as follows:
<https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`_ and includes inline annotations. The transmission
target is a :el:`body`, and adhesive forces are injected into all contacts involving geoms which belong to this body.
The force is divided equally between multiple contacts. When the :ref:`gap<body-geom-gap>` attribute is not used, this
actuator requires active contacts and cannot apply a force at a distance, more like the active adhesion on the feet of
geckos and insects rather than an industrial vacuum gripper. In order to enable "suction at a distance", set the
:ref:`gap<body-geom-gap>` attribute of the body's geoms to a positive value. This creates a layer around each geom where
contacts are detected but no contact forces are generated, and the adhesive force can act across this gap. In the video
above, such inactive contacts are blue, while active contacts are orange. An adhesion actuator's length is always 0.
:at:`ctrlrange` is required and must also be nonnegative (no repulsive forces are allowed). The underlying :el:`general`
attributes are set as follows:
=========== ======= =========== ========
Attribute Setting Attribute Setting
doc/changelog.rst
+51
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@@ -2,6 +2,57 @@
Changelog
=========
Upcoming version (not yet released)
-----------------------------------
.. admonition:: Breaking API changes
:class: attention
- The semantics of the contact ``margin`` and ``gap`` parameters have been redesigned for conceptual clarity and
consistency with `NVIDIA Newton <https://developer.nvidia.com/newton>`__. See the new
:ref:`margin and gap<coMarginGap>` documentation section for details.
Previously, ``margin`` controlled the *detection threshold* (contacts exist when ``dist < margin``) and ``gap``
was subtracted from it to produce the *force threshold* (forces generated when ``dist < margin - gap``). This was
unintuitive: users expected ``margin`` to mean geometric inflation and ``gap`` to mean a spatial gap.
Under the new semantics, ``margin`` is the geometric inflation of the geom surface and ``gap`` is an additional
detection buffer beyond the inflated surface:
- **Detection**: contacts are created when ``dist < margin + gap``.
- **Force generation**: constraint forces are applied when ``dist < margin``.
- **Inactive contacts**: contacts with ``margin < dist ≤ margin + gap`` are included in ``mjData.contact`` but
generate no force (``efc_address = -1``). This is useful for :ref:`adhesion<actuator-adhesion>` actuators and
custom callbacks.
With the default values ``margin = 0``, ``gap = 0``, the behavior is unchanged.
.. image:: images/modeling/margin_gap_light.svg
:width: 80%
:align: center
:class: only-light
.. image:: images/modeling/margin_gap_dark.svg
:width: 80%
:align: center
:class: only-dark
|
**Migration:** Models that use the default ``gap="0"`` (the vast majority) require no changes. For models with
``gap > 0``, apply the following transformation to preserve identical behavior:
.. code-block::
margin_new = margin_old - gap_old
gap_new = gap_old
For example, a geom with the old attributes ``margin="0.1" gap="0.1"`` should be changed to
``margin="0" gap="0.1"``.
Negative ``margin`` values are now permitted (corresponding to ``gap > margin`` under the old semantics). The
constraint ``margin + gap >= 0`` should be maintained to ensure valid collision detection.
Version 3.8.1 (May 11, 2026)
----------------------------
doc/computation/index.rst
+49 -6
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@@ -909,7 +909,7 @@ In addition to the above quantities which are computed online, each contact has
model definition.
.. list-table::
:widths: 1 5
:widths: 2 6
:header-rows: 1
* - Parameter
@@ -920,15 +920,53 @@ model definition.
- Vector of friction coefficients with dimensionality ``condim-1``. See below for semantics of the specific
coefficients.
* - ``margin``
- The distance margin used to determine if the contact should be included in the global contact array
``mjData.contact``.
- The geometric inflation of the geom surfaces. Contacts are detected when the distance is below
``margin + gap``, and contact forces are generated when the distance is below ``margin``.
* - ``gap``
- For custom computations it is sometimes convenient to include contacts in ``mjData.contact`` but not generate
contact forces. This is what ``gap`` does: contact forces are generated only when the normal distance is below
(margin - gap).
- An additional detection buffer beyond ``margin``. Contacts with distance between ``margin`` and
``margin + gap`` are included in ``mjData.contact`` as inactive contacts, but no contact forces are generated.
This is useful for action-at-a-distance effects, for example by :ref:`adhesion<actuator-adhesion>` actuators.
* - ``solref`` and ``solimp``
- :ref:`Solver <Solver>` parameters, explained later.
.. _coMarginGap:
margin and gap
^^^^^^^^^^^^^^
Each geom has a ``margin`` and a ``gap`` parameter, defined in the table above. The values for both parameters are
:ref:`summed<CContact>` when considering contact between the two geoms. Together they define three regimes of contact
detection and force generation, illustrated in the figure below.
.. image:: ../images/modeling/margin_gap_light.svg
:width: 90%
:align: center
:class: only-light
.. image:: ../images/modeling/margin_gap_dark.svg
:width: 90%
:align: center
:class: only-dark
The distance between two geom surfaces determines which regime applies:
- **No contact** (distance > ``margin + gap``): The geom surfaces, including their gap buffers, are not overlapping.
No contact is generated.
- **Inactive contact** (``margin`` < distance ≤ ``margin + gap``): A contact is detected and included in
``mjData.contact``, but no contact force is generated (``efc_address = -1``). These contacts can be used for custom
computations, for example by :ref:`adhesion<actuator-adhesion>` actuators.
- **Active contact** (distance ≤ ``margin``): The contact is active and constraint forces are generated. The constraint
impedance function is applied to the quantity ``distance - margin``, which is non-positive in this regime.
Negative ``margin`` values, corresponding "shrinkgage" of the geometric shape, are permitted. In this case
``margin + gap >= 0`` must be maintained for collision detection to work correctly.
.. _coCondim:
condim
^^^^^^
The contact friction cone can be either elliptic or pyramidal. This is a global setting determined by the choice of
constraint solver: the elliptic solvers work with elliptic cones, while the pyramidal solvers work with pyramidal cones,
as defined later. The ``condim`` parameter determines the contact type, and has the following meaning:
@@ -961,6 +999,11 @@ Note that condim cannot be 2 or 5. This is because the two tangential directions
treated as pairs. The friction coefficients within a pair can be different though, which can be used to model skating
for example.
.. _coCones:
Friction cones
^^^^^^^^^^^^^^
Now we describe the friction cones and the corresponding Jacobians more formally. In this section only, let :math:`f`
denote the vector of constraint forces for a single contact (as opposed to the system-level vector of constraint
forces), :math:`\mu` the vector of friction coefficients, and :math:`n` the contact dimensionality condim. For
doc/images/modeling/margin_gap_dark.svg
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@@ -0,0 +1,887 @@
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doc/includes/references.h
+10 -10
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@@ -108,7 +108,7 @@ struct mjContact_ { // result of collision detection functions
mjtNum frame[9]; // normal is in [0-2], points from geom[0] to geom[1]
// contact parameters set by mj_collideGeoms
mjtNum includemargin; // include if dist<includemargin=margin-gap
mjtNum includemargin; // margin for force generation
mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
mjtNum solref[mjNREF]; // constraint solver reference, normal direction
mjtNum solreffriction[mjNREF]; // constraint solver reference, friction directions
@@ -1236,8 +1236,8 @@ struct mjModel_ {
mjtNum* geom_pos; // local position offset rel. to body (ngeom x 3)
mjtNum* geom_quat; // local orientation offset rel. to body (ngeom x 4)
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
mjtNum* geom_margin; // detect contact if dist<margin (ngeom x 1)
mjtNum* geom_gap; // include in solver if dist<margin-gap (ngeom x 1)
mjtNum* geom_margin; // geometric inflation for contact (ngeom x 1)
mjtNum* geom_gap; // additional contact detection buffer (ngeom x 1)
mjtNum* geom_fluid; // fluid interaction parameters (ngeom x mjNFLUID)
mjtNum* geom_user; // user data (ngeom x nuser_geom)
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
@@ -1304,8 +1304,8 @@ struct mjModel_ {
mjtNum* flex_solref; // constraint solver reference: contact (nflex x mjNREF)
mjtNum* flex_solimp; // constraint solver impedance: contact (nflex x mjNIMP)
mjtNum* flex_friction; // friction for (slide, spin, roll) (nflex x 3)
mjtNum* flex_margin; // detect contact if dist<margin (nflex x 1)
mjtNum* flex_gap; // include in solver if dist<margin-gap (nflex x 1)
mjtNum* flex_margin; // geometric inflation for contact (nflex x 1)
mjtNum* flex_gap; // additional contact detection buffer (nflex x 1)
mjtByte* flex_internal; // internal flex collision enabled (nflex x 1)
int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
@@ -1474,8 +1474,8 @@ struct mjModel_ {
mjtNum* pair_solref; // solver reference: contact normal (npair x mjNREF)
mjtNum* pair_solreffriction; // solver reference: contact friction (npair x mjNREF)
mjtNum* pair_solimp; // solver impedance: contact (npair x mjNIMP)
mjtNum* pair_margin; // detect contact if dist<margin (npair x 1)
mjtNum* pair_gap; // include in solver if dist<margin-gap (npair x 1)
mjtNum* pair_margin; // geometric inflation for contact (npair x 1)
mjtNum* pair_gap; // additional contact detection buffer (npair x 1)
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
// excluded body pairs for collision detection
@@ -2127,7 +2127,7 @@ typedef struct mjsGeom_ { // geom specification
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist < margin-gap
double gap; // additional contact detection buffer
// inertia inference
double mass; // used to compute density
@@ -2238,7 +2238,7 @@ typedef struct mjsFlex_ { // flex specification
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
double gap; // additional contact detection buffer
// other properties
int dim; // element dimensionality
@@ -2389,7 +2389,7 @@ typedef struct mjsPair_ { // pair specification
mjtNum solreffriction[mjNREF]; // solver reference, frictional directions
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
double gap; // additional contact detection buffer
double friction[5]; // full contact friction
mjString* info; // message appended to errors
} mjsPair;
doc/modeling.rst
+2 -1
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@@ -344,7 +344,7 @@ of the function :math:`d(r)` is determined by the element-specific parameter vec
For equality constraints, :math:`r` is the constraint violation. For limits, normal directions of elliptic cones and
all directions of pyramidal cones, :math:`r` is the (limit or contact) distance minus the margin at which the
constraint becomes active; for contacts this margin is :ref:`margin<body-geom-margin>`-:ref:`gap<body-geom-gap>`.
constraint becomes active; for contacts this margin is :ref:`margin<body-geom-margin>`.
Limit and contact constraints are active when :math:`r < 0` (penetration).
For frictional constraints, see :ref:`Friction<CSolverFriction>`.
@@ -516,6 +516,7 @@ are as follows:
**margin**, **gap**
The sum of the two geom margins (or gaps respectively) is used. The geom priority is ignored here, because the
margin and gap are distance properties and a one-sided specification makes little sense.
See :ref:`margin and gap<coMarginGap>`.
.. _solmixing:
include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
+4 -7
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@@ -321,8 +321,8 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// MARGIN
// --------------------------------------------------------------------- //
/// Distance threshold below which contacts are detected and included in the
/// global array mjData.contact.
/// Geometric inflation of the geom surface for the purpose of contact force
/// generation.
///
/// | ||
/// | -- | -- |
@@ -346,11 +346,8 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// GAP
// --------------------------------------------------------------------- //
/// This attribute is used to enable the generation of inactive contacts,
/// i.e., contacts that are ignored by the constraint solver but are included
/// in mjData.contact for the purpose of custom computations. When this value
/// is positive, geom distances between margin and margin-gap correspond to
/// such inactive contacts.
/// Additional contact detection buffer beyond margin. Contacts are detected
/// at distance margin + gap but forces are only generated at distance margin.
///
/// | ||
/// | -- | -- |
include/mujoco/mjdata.h
+1 -1
View File
@@ -130,7 +130,7 @@ struct mjContact_ { // result of collision detection functions
mjtNum frame[9]; // normal is in [0-2], points from geom[0] to geom[1]
// contact parameters set by mj_collideGeoms
mjtNum includemargin; // include if dist<includemargin=margin-gap
mjtNum includemargin; // margin for force generation
mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
mjtNum solref[mjNREF]; // constraint solver reference, normal direction
mjtNum solreffriction[mjNREF]; // constraint solver reference, friction directions
include/mujoco/mjmodel.h
+6 -6
View File
@@ -899,8 +899,8 @@ struct mjModel_ {
mjtNum* geom_pos; // local position offset rel. to body (ngeom x 3)
mjtNum* geom_quat; // local orientation offset rel. to body (ngeom x 4)
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
mjtNum* geom_margin; // detect contact if dist<margin (ngeom x 1)
mjtNum* geom_gap; // include in solver if dist<margin-gap (ngeom x 1)
mjtNum* geom_margin; // geometric inflation for contact (ngeom x 1)
mjtNum* geom_gap; // additional contact detection buffer (ngeom x 1)
mjtNum* geom_fluid; // fluid interaction parameters (ngeom x mjNFLUID)
mjtNum* geom_user; // user data (ngeom x nuser_geom)
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
@@ -967,8 +967,8 @@ struct mjModel_ {
mjtNum* flex_solref; // constraint solver reference: contact (nflex x mjNREF)
mjtNum* flex_solimp; // constraint solver impedance: contact (nflex x mjNIMP)
mjtNum* flex_friction; // friction for (slide, spin, roll) (nflex x 3)
mjtNum* flex_margin; // detect contact if dist<margin (nflex x 1)
mjtNum* flex_gap; // include in solver if dist<margin-gap (nflex x 1)
mjtNum* flex_margin; // geometric inflation for contact (nflex x 1)
mjtNum* flex_gap; // additional contact detection buffer (nflex x 1)
mjtByte* flex_internal; // internal flex collision enabled (nflex x 1)
int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
@@ -1137,8 +1137,8 @@ struct mjModel_ {
mjtNum* pair_solref; // solver reference: contact normal (npair x mjNREF)
mjtNum* pair_solreffriction; // solver reference: contact friction (npair x mjNREF)
mjtNum* pair_solimp; // solver impedance: contact (npair x mjNIMP)
mjtNum* pair_margin; // detect contact if dist<margin (npair x 1)
mjtNum* pair_gap; // include in solver if dist<margin-gap (npair x 1)
mjtNum* pair_margin; // geometric inflation for contact (npair x 1)
mjtNum* pair_gap; // additional contact detection buffer (npair x 1)
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
// excluded body pairs for collision detection
include/mujoco/mjspec.h
+3 -3
View File
@@ -314,7 +314,7 @@ typedef struct mjsGeom_ { // geom specification
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist < margin-gap
double gap; // additional contact detection buffer
// inertia inference
double mass; // used to compute density
@@ -433,7 +433,7 @@ typedef struct mjsFlex_ { // flex specification
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
double gap; // additional contact detection buffer
// other properties
int dim; // element dimensionality
@@ -597,7 +597,7 @@ typedef struct mjsPair_ { // pair specification
mjtNum solreffriction[mjNREF]; // solver reference, frictional directions
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
double gap; // additional contact detection buffer
double friction[5]; // full contact friction
mjString* info; // message appended to errors
} mjsPair;
mjx/mujoco/mjx/_src/collision_driver.py
+2 -3
View File
@@ -275,7 +275,7 @@ def _contact_groups(m: Model, d: Data) -> Dict[FunctionKey, Contact]:
if ip.size > 0:
# pair contacts get their params from m.pair_* fields
params.append((
m.pair_margin[ip] - m.pair_gap[ip],
m.pair_margin[ip],
jp.clip(m.pair_friction[ip], min=eps),
m.pair_solref[ip],
m.pair_solreffriction[ip],
@@ -284,7 +284,6 @@ def _contact_groups(m: Model, d: Data) -> Dict[FunctionKey, Contact]:
if geom1.size > 0 and geom2.size > 0:
# other contacts get their params from geom fields
margin = m.geom_margin[geom1] + m.geom_margin[geom2]
gap = m.geom_gap[geom1] + m.geom_gap[geom2]
solmix1, solmix2 = m.geom_solmix[geom1], m.geom_solmix[geom2]
mix = solmix1 / (solmix1 + solmix2)
mix = jp.where((solmix1 < eps) & (solmix2 < eps), 0.5, mix)
@@ -315,7 +314,7 @@ def _contact_groups(m: Model, d: Data) -> Dict[FunctionKey, Contact]:
# unpack 5d friction:
friction = friction[:, [0, 0, 1, 2, 2]]
params.append((margin - gap, friction, solref, solreffriction, solimp))
params.append((margin, friction, solref, solreffriction, solimp))
params = map(jp.concatenate, zip(*params))
includemargin, friction, solref, solreffriction, solimp = params
mjx/mujoco/mjx/_src/types.py
+1 -1
View File
@@ -942,7 +942,7 @@ class Contact(PyTreeNode):
dist: distance between nearest points; neg: penetration
pos: position of contact point: midpoint between geoms (3,)
frame: normal is in [0-2] (9,)
includemargin: include if dist<includemargin=margin-gap (1,)
includemargin: include if dist<includemargin=margin (1,)
friction: tangent1, 2, spin, roll1, 2 (5,)
solref: constraint solver reference, normal direction (mjNREF,)
solreffriction: constraint solver reference, friction directions (mjNREF,)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py
Vendored
+11 -3
View File
@@ -35,6 +35,7 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAX_EPAFACES
from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAX_EPAHORIZON
from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXCONPAIR
from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
from mujoco.mjx.third_party.mujoco_warp._src.types import _NEW_GAP_SEMANTICS
from mujoco.mjx.third_party.mujoco_warp._src.types import Data
from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
@@ -773,7 +774,10 @@ def ccd_kernel_builder(
if is_collision_sensor:
cutoff = 1.0e32
else:
cutoff = 0.0
if wp.static(_NEW_GAP_SEMANTICS):
cutoff = gap
else:
cutoff = 0.0
dist, ncollision, w1, w2, multiccd_idx = ccd(
opt_ccd_tolerance[worldid % opt_ccd_tolerance.shape[0]],
cutoff,
@@ -793,8 +797,12 @@ def ccd_kernel_builder(
epa_horizon_in[ccdid],
)
if dist >= 0.0 and pairid[1] == -1:
return 0
if wp.static(_NEW_GAP_SEMANTICS):
if dist >= gap and pairid[1] == -1:
return 0
else:
if dist >= 0.0 and pairid[1] == -1:
return 0
# CCD operates on margin-inflated shapes (support() inflates each geom by
# 0.5 * margin). The returned dist is therefore relative to the inflated
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_core.py
Vendored
+8 -3
View File
@@ -22,6 +22,7 @@ import warp as wp
from mujoco.mjx.third_party.mujoco_warp._src.math import safe_div
from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINMU
from mujoco.mjx.third_party.mujoco_warp._src.types import _NEW_GAP_SEMANTICS
from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
from mujoco.mjx.third_party.mujoco_warp._src.types import ContactType
from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
@@ -197,14 +198,15 @@ def write_contact(
Returns 1 if the contact is active (dist < margin), 0 otherwise.
"""
active = dist_in < margin_in
detected = dist_in < margin_in + gap_in
# skip contact and no collision sensor
if (pairid_in[0] == -2 or not active) and pairid_in[1] == -1:
if (pairid_in[0] == -2 or not detected) and pairid_in[1] == -1:
return 0
contact_type = 0
if pairid_in[0] >= -1 and active:
if pairid_in[0] >= -1 and detected:
contact_type |= ContactType.CONSTRAINT
if pairid_in[1] >= 0:
@@ -217,7 +219,10 @@ def write_contact(
contact_frame_out[cid] = frame_in
contact_geom_out[cid] = geoms_in
contact_worldid_out[cid] = worldid_in
includemargin = margin_in - gap_in
if wp.static(_NEW_GAP_SEMANTICS):
includemargin = margin_in
else:
includemargin = margin_in - gap_in
contact_includemargin_out[cid] = includemargin
contact_dim_out[cid] = condim_in
contact_friction_out[cid] = friction_in
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py
Vendored
+25 -15
View File
@@ -271,13 +271,14 @@ def _obb_filter(
return True
def _broadphase_filter(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: int, ngeom_margin: int):
def _broadphase_filter(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: int, ngeom_margin: int, ngeom_gap: int):
@wp.func
def func(
# Model:
geom_aabb: wp.array3d[wp.vec3],
geom_rbound: wp.array2d[float],
geom_margin: wp.array2d[float],
geom_gap: wp.array2d[float],
# Data in:
geom_xpos_in: wp.array2d[wp.vec3],
geom_xmat_in: wp.array2d[wp.mat33],
@@ -299,21 +300,25 @@ def _broadphase_filter(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound
rbound1, rbound2 = geom_rbound[rbound_id, geom1], geom_rbound[rbound_id, geom2] # kernel_analyzer: ignore
margin_id = worldid % ngeom_margin if wp.static(ngeom_margin > 1) else 0
margin1, margin2 = geom_margin[margin_id, geom1], geom_margin[margin_id, geom2] # kernel_analyzer: ignore
gap_id = worldid % ngeom_gap if wp.static(ngeom_gap > 1) else 0
gap1, gap2 = geom_gap[gap_id, geom1], geom_gap[gap_id, geom2] # kernel_analyzer: ignore
effective_margin1 = margin1 + gap1
effective_margin2 = margin2 + gap2
xpos1, xpos2 = geom_xpos_in[worldid, geom1], geom_xpos_in[worldid, geom2]
xmat1, xmat2 = geom_xmat_in[worldid, geom1], geom_xmat_in[worldid, geom2]
if rbound1 == 0.0 or rbound2 == 0.0:
if wp.static(opt_broadphase_filter & BroadphaseFilter.PLANE):
return _plane_filter(rbound1, rbound2, margin1, margin2, xpos1, xpos2, xmat1, xmat2)
return _plane_filter(rbound1, rbound2, effective_margin1, effective_margin2, xpos1, xpos2, xmat1, xmat2)
else:
if wp.static(opt_broadphase_filter & BroadphaseFilter.SPHERE):
if not _sphere_filter(rbound1, rbound2, margin1, margin2, xpos1, xpos2):
if not _sphere_filter(rbound1, rbound2, effective_margin1, effective_margin2, xpos1, xpos2):
return False
if wp.static(opt_broadphase_filter & BroadphaseFilter.AABB):
if not _aabb_filter(center1, center2, size1, size2, margin1, margin2, xpos1, xpos2, xmat1, xmat2):
if not _aabb_filter(center1, center2, size1, size2, effective_margin1, effective_margin2, xpos1, xpos2, xmat1, xmat2):
return False
if wp.static(opt_broadphase_filter & BroadphaseFilter.OBB):
if not _obb_filter(center1, center2, size1, size2, margin1, margin2, xpos1, xpos2, xmat1, xmat2):
if not _obb_filter(center1, center2, size1, size2, effective_margin1, effective_margin2, xpos1, xpos2, xmat1, xmat2):
return False
return True
@@ -377,6 +382,7 @@ def _sap_project(opt_broadphase: int):
ngeom: int,
geom_rbound: wp.array2d[float],
geom_margin: wp.array2d[float],
geom_gap: wp.array2d[float],
# Data in:
geom_xpos_in: wp.array2d[wp.vec3],
nworld_in: int,
@@ -397,7 +403,7 @@ def _sap_project(opt_broadphase: int):
# geom is a plane
rbound = MJ_MAXVAL
radius = rbound + geom_margin[worldid % geom_margin.shape[0], geomid]
radius = rbound + geom_margin[worldid % geom_margin.shape[0], geomid] + geom_gap[worldid % geom_gap.shape[0], geomid]
center = wp.dot(direction_in, xpos)
sort_index_out[worldid, geomid] = geomid
@@ -443,7 +449,7 @@ def _sap_range(
@cache_kernel
def _sap_broadphase(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: int, ngeom_margin: int):
def _sap_broadphase(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: int, ngeom_margin: int, ngeom_gap: int):
@wp.kernel(module="unique", enable_backward=False)
def kernel(
# Model:
@@ -452,6 +458,7 @@ def _sap_broadphase(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: i
geom_aabb: wp.array3d[wp.vec3],
geom_rbound: wp.array2d[float],
geom_margin: wp.array2d[float],
geom_gap: wp.array2d[float],
nxn_pairid: wp.array[wp.vec2i],
# Data in:
geom_xpos_in: wp.array2d[wp.vec3],
@@ -502,8 +509,8 @@ def _sap_broadphase(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: i
continue
if (
wp.static(_broadphase_filter(opt_broadphase_filter, ngeom_aabb, ngeom_rbound, ngeom_margin))(
geom_aabb, geom_rbound, geom_margin, geom_xpos_in, geom_xmat_in, geom1, geom2, worldid
wp.static(_broadphase_filter(opt_broadphase_filter, ngeom_aabb, ngeom_rbound, ngeom_margin, ngeom_gap))(
geom_aabb, geom_rbound, geom_margin, geom_gap, geom_xpos_in, geom_xmat_in, geom1, geom2, worldid
)
or pairid[1] >= 0
):
@@ -586,7 +593,7 @@ def sap_broadphase(m: Model, d: Data, ctx: CollisionContext):
wp.launch(
kernel=_sap_project(m.opt.broadphase),
dim=(d.nworld, m.ngeom),
inputs=[m.ngeom, m.geom_rbound, m.geom_margin, d.geom_xpos, d.nworld, direction],
inputs=[m.ngeom, m.geom_rbound, m.geom_margin, m.geom_gap, d.geom_xpos, d.nworld, direction],
outputs=[
projection_lower.reshape((-1, m.ngeom)),
projection_upper,
@@ -622,7 +629,7 @@ def sap_broadphase(m: Model, d: Data, ctx: CollisionContext):
# assumes each geom has 5 other geoms (batched over all worlds)
nsweep = 5 * nworldgeom
wp.launch(
kernel=_sap_broadphase(m.opt.broadphase_filter, m.geom_aabb.shape[0], m.geom_rbound.shape[0], m.geom_margin.shape[0]),
kernel=_sap_broadphase(m.opt.broadphase_filter, m.geom_aabb.shape[0], m.geom_rbound.shape[0], m.geom_margin.shape[0], m.geom_gap.shape[0]),
dim=nsweep,
inputs=[
m.ngeom,
@@ -630,6 +637,7 @@ def sap_broadphase(m: Model, d: Data, ctx: CollisionContext):
m.geom_aabb,
m.geom_rbound,
m.geom_margin,
m.geom_gap,
m.nxn_pairid,
d.geom_xpos,
d.geom_xmat,
@@ -644,7 +652,7 @@ def sap_broadphase(m: Model, d: Data, ctx: CollisionContext):
@cache_kernel
def _nxn_broadphase(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: int, ngeom_margin: int):
def _nxn_broadphase(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: int, ngeom_margin: int, ngeom_gap: int):
@wp.kernel(module="unique", enable_backward=False)
def kernel(
# Model:
@@ -652,6 +660,7 @@ def _nxn_broadphase(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: i
geom_aabb: wp.array3d[wp.vec3],
geom_rbound: wp.array2d[float],
geom_margin: wp.array2d[float],
geom_gap: wp.array2d[float],
nxn_geom_pair: wp.array[wp.vec2i],
nxn_pairid: wp.array[wp.vec2i],
# Data in:
@@ -672,8 +681,8 @@ def _nxn_broadphase(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: i
geom2 = geom[1]
if (
wp.static(_broadphase_filter(opt_broadphase_filter, ngeom_aabb, ngeom_rbound, ngeom_margin))(
geom_aabb, geom_rbound, geom_margin, geom_xpos_in, geom_xmat_in, geom1, geom2, worldid
wp.static(_broadphase_filter(opt_broadphase_filter, ngeom_aabb, ngeom_rbound, ngeom_margin, ngeom_gap))(
geom_aabb, geom_rbound, geom_margin, geom_gap, geom_xpos_in, geom_xmat_in, geom1, geom2, worldid
)
or nxn_pairid[elementid][1] >= 0
):
@@ -709,13 +718,14 @@ def nxn_broadphase(m: Model, d: Data, ctx: CollisionContext):
`contype`/`conaffinity`, parent-child relationships, and explicit `<exclude>` tags.
"""
wp.launch(
_nxn_broadphase(m.opt.broadphase_filter, m.geom_aabb.shape[0], m.geom_rbound.shape[0], m.geom_margin.shape[0]),
_nxn_broadphase(m.opt.broadphase_filter, m.geom_aabb.shape[0], m.geom_rbound.shape[0], m.geom_margin.shape[0], m.geom_gap.shape[0]),
dim=(d.nworld, m.nxn_geom_pair_filtered.shape[0]),
inputs=[
m.geom_type,
m.geom_aabb,
m.geom_rbound,
m.geom_margin,
m.geom_gap,
m.nxn_geom_pair_filtered,
m.nxn_pairid_filtered,
d.geom_xpos,
mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
Vendored
+6 -3
View File
@@ -17,6 +17,7 @@ import enum
from typing import Callable
import mujoco
from mujoco.mjx.third_party.mujoco_warp._src.util_pkg import check_version
import numpy as np
import warp as wp
@@ -26,6 +27,8 @@ MJ_MINIMP = mujoco.mjMINIMP # minimum constraint impedance
MJ_MAXIMP = mujoco.mjMAXIMP # maximum constraint impedance
MJ_MAXCONPAIR = mujoco.mjMAXCONPAIR
MJ_MINMU = mujoco.mjMINMU # minimum friction
# True if MuJoCo >= 3.9.0 (new margin/gap semantics: includemargin = margin)
_NEW_GAP_SEMANTICS = check_version("mujoco>=3.9.0")
# maximum size (by number of edges) of an horizon in EPA algorithm
MJ_MAX_EPAHORIZON = 24
# maximum average number of trianglarfaces EPA can insert at each iteration
@@ -974,7 +977,7 @@ class Model:
geom_quat: local orientation offset rel. to body (*, ngeom, 4)
geom_friction: friction for (slide, spin, roll) (*, ngeom, 3)
geom_margin: detect contact if dist<margin (*, ngeom,)
geom_gap: include in solver if dist<margin-gap (*, ngeom,)
geom_gap: additional contact detection buffer (*, ngeom,)
geom_fluid: fluid interaction parameters (ngeom, mjNFLUID)
geom_rgba: rgba when material is omitted (*, ngeom, 4)
site_type: geom type for rendering (GeomType) (nsite,)
@@ -1082,7 +1085,7 @@ class Model:
pair_solreffriction: solver reference: contact friction (*, npair, mjNREF)
pair_solimp: solver impedance: contact (*, npair, mjNIMP)
pair_margin: detect contact if dist<margin (*, npair,)
pair_gap: include in solver if dist<margin-gap (*, npair,)
pair_gap: additional contact detection buffer (*, npair,)
pair_friction: tangent1, 2, spin, roll1, 2 (*, npair, 5)
exclude_signature: body1 << 16 + body2 (nexclude,)
eq_type: constraint type (EqType) (neq,)
@@ -1663,7 +1666,7 @@ class Contact:
dist: distance between nearest points; neg: penetration (naconmax,)
pos: position of contact point: midpoint between geoms (naconmax, 3)
frame: normal is in [0-2], points from geom[0] to geom[1] (naconmax, 3, 3)
includemargin: include if dist<includemargin=margin-gap (naconmax,)
includemargin: include if dist<includemargin=margin (naconmax,)
friction: tangent1, 2, spin, roll1, 2 (naconmax, 5)
solref: constraint solver reference, normal direction (naconmax, 2)
solreffriction: constraint solver reference, friction directions (naconmax, 2)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_pkg.py
Vendored
+12 -8
View File
@@ -22,21 +22,25 @@ import re
def _parse_version(version_str: str) -> tuple[tuple[int, int | str], ...]:
"""Parse a version string into comparable components.
Both '.' and '-' are treated as separators. Each component is wrapped in a
tuple: (0, int) for numeric parts, (-1, str) for non-numeric. A (0, 0)
sentinel is appended so that stable releases sort above pre-release suffixes
during Python tuple comparison (e.g., 1.2.3 >= 1.2.3.dev). Non-numeric
components are compared lexicographically (e.g., b >= a).
Dot-separated components form the version. Hyphen-separated suffixes (e.g.,
"-foo3") are treated as local build identifiers and stripped before
parsing. Each component is wrapped in a tuple: (0, int) for numeric parts,
(-1, str) for non-numeric. A (0, 0) sentinel is appended so that stable
releases sort above pre-release suffixes during Python tuple comparison
(e.g., 1.2.3 >= 1.2.3.dev). Non-numeric components are compared
lexicographically (e.g., b >= a).
Args:
version_str: Version string like "3.5.0" or "3.5.0.dev869102767".
version_str: Version string like "3.5.0", "3.5.0.dev869102767", or
"3.9.0-foo3".
Returns:
Tuple of (type_order, value) pairs for comparison, where type_order is 0
for integers and -1 for strings, followed by a (0, 0) sentinel.
"""
# Split on both '.' and '-'
parts = re.split(r"[.\-]", version_str)
# Strip local build identifier (e.g., "3.9.0-foo3" -> "3.9.0")
version_str = version_str.split("-", 1)[0]
parts = version_str.split(".")
return tuple([(0, int(p)) if p.isdigit() else (-1, p) for p in parts] + [(0, 0)])
model/adhesion/active_adhesion.xml
+6 -6
View File
@@ -22,11 +22,11 @@
</default>
<default class="active_adhesion">
<!--
Geoms in the active_adhesion class are "inflated" with a margin of 1cm, but contacts are
activated only at a depth gap of 1cm, leading to a layer of inactive contacts at a 1cm
distance from the surface. However the contacts can be used by the adhesion actuator.
Geoms in the active_adhesion class have a detection gap of 1cm, leading to a layer of
inactive contacts at a 1cm distance from the surface. The contacts can be used by the
adhesion actuator, but no contact forces are generated in the gap zone.
-->
<geom rgba=".8 .5 .5 1" margin=".01" gap=".01"/>
<geom rgba=".8 .5 .5 1" gap=".01"/>
</default>
<default class="object">
<geom rgba=".5 .8 .5 1" density="100"/>
@@ -87,9 +87,9 @@
frictionless point particles. In order to make them stick to the sphere we give the sphere
priority 2, to force condim=3.
Also note the sphere has a margin+gap of 3cm as opposed to the 1cm of the arm box.
Also note the sphere has a gap of 3cm as opposed to the 1cm of the arm box.
-->
<geom type="sphere" size=".03" priority="2" margin=".03" gap=".03"/>
<geom type="sphere" size=".03" priority="2" gap=".03"/>
<site name="pin_left" pos="-.025 0 .025"/>
<site name="pin_right" pos=".025 0 .025"/>
</body>
python/mujoco/introspect/structs.py
+10 -10
View File
@@ -2118,7 +2118,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='detect contact if dist<margin',
doc='geometric inflation for contact',
array_extent=('ngeom',),
),
StructFieldDecl(
@@ -2126,7 +2126,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='include in solver if dist<margin-gap',
doc='additional contact detection buffer',
array_extent=('ngeom',),
),
StructFieldDecl(
@@ -2598,7 +2598,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='detect contact if dist<margin',
doc='geometric inflation for contact',
array_extent=('nflex',),
),
StructFieldDecl(
@@ -2606,7 +2606,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='include in solver if dist<margin-gap',
doc='additional contact detection buffer',
array_extent=('nflex',),
),
StructFieldDecl(
@@ -3846,7 +3846,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='detect contact if dist<margin',
doc='geometric inflation for contact',
array_extent=('npair',),
),
StructFieldDecl(
@@ -3854,7 +3854,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='include in solver if dist<margin-gap',
doc='additional contact detection buffer',
array_extent=('npair',),
),
StructFieldDecl(
@@ -5169,7 +5169,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='includemargin',
type=ValueType(name='mjtNum'),
doc='include if dist<includemargin=margin-gap',
doc='margin for force generation',
),
StructFieldDecl(
name='friction',
@@ -7644,7 +7644,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='gap',
type=ValueType(name='double'),
doc='include in solver if dist < margin-gap',
doc='additional contact detection buffer',
),
StructFieldDecl(
name='mass',
@@ -8158,7 +8158,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='gap',
type=ValueType(name='double'),
doc='include in solver if dist<margin-gap',
doc='additional contact detection buffer',
),
StructFieldDecl(
name='dim',
@@ -8917,7 +8917,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='gap',
type=ValueType(name='double'),
doc='include in solver if dist<margin-gap',
doc='additional contact detection buffer',
),
StructFieldDecl(
name='friction',
src/engine/engine_collision_driver.c
+61 -56
View File
@@ -882,12 +882,13 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
// both are leaves
if (isleaf1 && isleaf2) {
mjtNum margin = mj_assignMargin(m, m->geom_margin[nodeid1] + m->geom_margin[nodeid2]);
mjtNum gap = m->geom_gap[nodeid1] + m->geom_gap[nodeid2];
if (!mj_filterSphere(m, d, nodeid1, nodeid2, margin)) {
if (!mj_filterSphere(m, d, nodeid1, nodeid2, margin + gap)) {
if (mj_collideOBB(m->geom_aabb + 6*nodeid1, m->geom_aabb + 6*nodeid2,
d->geom_xpos + 3*nodeid1, d->geom_xmat + 9*nodeid1,
d->geom_xpos + 3*nodeid2, d->geom_xmat + 9*nodeid2,
margin, NULL, NULL, &initialize)) {
margin + gap, NULL, NULL, &initialize)) {
mj_collideGeomPair(m, d, nodeid1, nodeid2, merged, startadr, pairadr);
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
@@ -913,15 +914,16 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
// both are leaves
if (isleaf1 && isleaf2) {
mjtNum margin = mj_assignMargin(m, m->geom_margin[nodeid1] + m->flex_margin[f2]);
mjtNum gap = m->geom_gap[nodeid1] + m->flex_gap[f2];
if (!filterBitmask(m->geom_contype[nodeid1], m->geom_conaffinity[nodeid1],
m->flex_contype[f2], m->flex_conaffinity[f2]) &&
!filterSphereBox(d->geom_xpos + 3*nodeid1, m->geom_rbound[nodeid1] + margin,
!filterSphereBox(d->geom_xpos + 3*nodeid1, m->geom_rbound[nodeid1] + margin + gap,
bvh2 + 6*node2)) {
if (mj_collideOBB(m->geom_aabb + 6*nodeid1, bvh2 + 6*node2,
d->geom_xpos + 3*nodeid1, d->geom_xmat + 9*nodeid1,
NULL, NULL,
margin, NULL, NULL, &initialize)) {
margin + gap, NULL, NULL, &initialize)) {
// collide unless geom is plane or SDF (handled separately)
if (m->geom_type[nodeid1] != mjGEOM_PLANE &&
m->geom_type[nodeid1] != mjGEOM_SDF) {
@@ -1058,7 +1060,8 @@ static void makeAAMM(const mjModel* m, mjData* d,
// process all body geoms (body is collidable, should have geoms)
for (int i=0; i < body_geomnum; i++) {
int geom = m->body_geomadr[body]+i;
mjtNum margin = override_margin ? override_margin : m->geom_margin[geom];
mjtNum margin = override_margin ? override_margin
: m->geom_margin[geom] + m->geom_gap[geom];
mjtNum _aamm[6];
const mjtNum* aabb = m->geom_aabb + 6*geom;
@@ -1124,7 +1127,8 @@ static void makeAAMM(const mjModel* m, mjData* d,
}
// correct for flex radius and margin
mjtNum margin = override_margin ? override_margin : m->flex_margin[f];
mjtNum margin = override_margin ? override_margin
: m->flex_margin[f] + m->flex_gap[f];
mjtNum bound = m->flex_radius[f] + margin;
aamm[0] -= bound;
aamm[1] -= bound;
@@ -1513,8 +1517,8 @@ int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair) {
//----------------------------- narrow-phase collision detection -----------------------------------
// compute contact condim, gap, solref, solimp, friction
static void mj_contactParam(const mjModel* m, int* condim, mjtNum* gap,
// compute contact condim, solref, solimp, friction
static void mj_contactParam(const mjModel* m, int* condim,
mjtNum* solref, mjtNum* solimp, mjtNum* friction,
int g1, int g2, int f1, int f2) {
mjtNum fri[3];
@@ -1522,7 +1526,6 @@ static void mj_contactParam(const mjModel* m, int* condim, mjtNum* gap,
// get parameters from geom1 or flex1
int priority1 = (f1 < 0) ? m->geom_priority[g1] : m->flex_priority[f1];
int condim1 = (f1 < 0) ? m->geom_condim[g1] : m->flex_condim[f1];
mjtNum gap1 = (f1 < 0) ? m->geom_gap[g1] : m->flex_gap[f1];
mjtNum solmix1 = (f1 < 0) ? m->geom_solmix[g1] : m->flex_solmix[f1];
const mjtNum* solref1 = (f1 < 0) ? m->geom_solref+g1*mjNREF : m->flex_solref+f1*mjNREF;
const mjtNum* solimp1 = (f1 < 0) ? m->geom_solimp+g1*mjNIMP : m->flex_solimp+f1*mjNIMP;
@@ -1531,15 +1534,11 @@ static void mj_contactParam(const mjModel* m, int* condim, mjtNum* gap,
// get parameters from geom2 or flex2
int priority2 = (f2 < 0) ? m->geom_priority[g2] : m->flex_priority[f2];
int condim2 = (f2 < 0) ? m->geom_condim[g2] : m->flex_condim[f2];
mjtNum gap2 = (f2 < 0) ? m->geom_gap[g2] : m->flex_gap[f2];
mjtNum solmix2 = (f2 < 0) ? m->geom_solmix[g2] : m->flex_solmix[f2];
const mjtNum* solref2 = (f2 < 0) ? m->geom_solref+g2*mjNREF : m->flex_solref+f2*mjNREF;
const mjtNum* solimp2 = (f2 < 0) ? m->geom_solimp+g2*mjNIMP : m->flex_solimp+f2*mjNIMP;
const mjtNum* friction2 = (f2 < 0) ? m->geom_friction+g2*3 : m->flex_friction+f2*3;
// gap: add
*gap = gap1 + gap2;
// different priority: copy from item with higher priority
if (priority1 > priority2) {
*condim = condim1;
@@ -1719,8 +1718,15 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int ipair, int g1, int g2) {
margin = mj_assignMargin(m, m->pair_margin[ipair]);
}
// set gap: dynamic or pair
if (ipair < 0) {
gap = m->geom_gap[g1] + m->geom_gap[g2];
} else {
gap = m->pair_gap[ipair];
}
// bounding sphere filter
if (mj_filterSphere(m, d, g1, g2, margin)) {
if (mj_filterSphere(m, d, g1, g2, margin + gap)) {
return;
}
@@ -1733,7 +1739,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int ipair, int g1, int g2) {
}
// call collision detector to generate contacts
num = collisionFunc(m, d, con, g1, g2, margin);
num = collisionFunc(m, d, con, g1, g2, margin + gap);
// check contacts
if (!num) {
@@ -1746,15 +1752,14 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int ipair, int g1, int g2) {
mjERROR("too many contacts returned by collision function");
}
// set condim, gap, solref, solimp, friction: dynamic
// set condim, solref, solimp, friction: dynamic
if (ipair < 0) {
mj_contactParam(m, &condim, &gap, solref, solimp, friction, g1, g2, -1, -1);
mj_contactParam(m, &condim, solref, solimp, friction, g1, g2, -1, -1);
}
// set condim, gap, solref, solimp, friction: pair
// set condim, solref, solimp, friction: pair
else {
condim = m->pair_dim[ipair];
gap = m->pair_gap[ipair];
mju_copy(solref, m->pair_solref+mjNREF*ipair, mjNREF);
mju_copy(solimp, m->pair_solimp+mjNIMP*ipair, mjNIMP);
mju_copy(friction, m->pair_friction+5*ipair, 5);
@@ -1778,7 +1783,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int ipair, int g1, int g2) {
con[i].vert[1] = -1;
// set remaining contact parameters
mj_setContact(m, con + i, condim, margin-gap, solref, solreffriction, solimp, friction);
mj_setContact(m, con + i, condim, margin, solref, solreffriction, solimp, friction);
}
// add to ncon
@@ -1801,9 +1806,10 @@ void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f) {
mjtNum margin = mj_assignMargin(m, m->geom_margin[g] + m->flex_margin[f]);
int condim;
int flex_vertnum = m->flex_vertnum[f];
mjtNum gap, solref[mjNREF], solimp[mjNIMP], friction[5];
mjtNum gap = m->geom_gap[g] + m->flex_gap[f];
mjtNum solref[mjNREF], solimp[mjNIMP], friction[5];
mjtNum solreffriction[mjNREF] = {0};
mj_contactParam(m, &condim, &gap, solref, solimp, friction, g, -1, -1, f);
mj_contactParam(m, &condim, solref, solimp, friction, g, -1, -1, f);
// collide all flex vertices with plane
for (int i=0; i < flex_vertnum; i++) {
@@ -1814,7 +1820,7 @@ void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f) {
mjtNum dist = mju_dot3(dif, nrm);
// no contact
if (dist > margin + radius) {
if (dist > margin + gap + radius) {
continue;
}
@@ -1835,7 +1841,7 @@ void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f) {
con.vert[1] = i;
// set remaining contact parameters
mj_setContact(m, &con, condim, margin-gap, solref, solreffriction, solimp, friction);
mj_setContact(m, &con, condim, margin, solref, solreffriction, solimp, friction);
// add to mjData, abort if too many contacts
if (mj_addContact(m, d, &con)) {
@@ -1854,10 +1860,11 @@ void mj_collideSdfFlex(const mjModel* m, mjData* d, int g, int f) {
// prepare contact parameters (same for all contacts)
mjtNum margin = mj_assignMargin(m, m->geom_margin[g] + m->flex_margin[f]);
mjtNum gap = m->geom_gap[g] + m->flex_gap[f];
int condim;
mjtNum gap, solref[mjNREF], solimp[mjNIMP], friction[5];
mjtNum solref[mjNREF], solimp[mjNIMP], friction[5];
mjtNum solreffriction[mjNREF] = {0};
mj_contactParam(m, &condim, &gap, solref, solimp, friction, g, -1, -1, f);
mj_contactParam(m, &condim, solref, solimp, friction, g, -1, -1, f);
// allocate temporary contact array on stack (zero-initialized)
mj_markStack(d);
@@ -1865,7 +1872,7 @@ void mj_collideSdfFlex(const mjModel* m, mjData* d, int g, int f) {
memset(con, 0, mjMAXCONPAIR * sizeof(mjContact));
// call batched flex-SDF collision
int num = mjc_FlexSDF(m, d, con, g, f, margin);
int num = mjc_FlexSDF(m, d, con, g, f, margin + gap);
// add contacts to mjData
for (int i = 0; i < num; i++) {
@@ -1880,7 +1887,7 @@ void mj_collideSdfFlex(const mjModel* m, mjData* d, int g, int f) {
con[i].vert[1] = -1;
// set remaining contact parameters
mj_setContact(m, con + i, condim, margin-gap, solref, solreffriction, solimp, friction);
mj_setContact(m, con + i, condim, margin, solref, solreffriction, solimp, friction);
// add to mjData, abort if too many contacts
if (mj_addContact(m, d, con + i)) {
@@ -1949,9 +1956,9 @@ void mj_collideFlexInternal(const mjModel* m, mjData* d, int f) {
int condim;
int flex_elemnum = m->flex_elemnum[f];
mjtNum radius = m->flex_radius[f];
mjtNum gap, solref[mjNREF], solimp[mjNIMP], friction[5];
mjtNum solref[mjNREF], solimp[mjNIMP], friction[5];
mjtNum solreffriction[mjNREF] = {0};
mj_contactParam(m, &condim, &gap, solref, solimp, friction, -1, -1, f, f);
mj_contactParam(m, &condim, solref, solimp, friction, -1, -1, f, f);
condim = 1;
// process all elements
@@ -2048,13 +2055,14 @@ void mj_collideFlexSAP(const mjModel* m, mjData* d, int f) {
// test a geom and an elem for collision, add to contact list
void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
mjtNum margin = mj_assignMargin(m, m->geom_margin[g] + m->flex_margin[f]);
mjtNum gap = m->geom_gap[g] + m->flex_gap[f];
int dim = m->flex_dim[f], type = m->geom_type[g];
int num;
// bounding sphere test: only if midphase is disabled
if (mjDISABLED(mjDSBL_MIDPHASE)) {
int eglobal = m->flex_elemadr[f] + e;
if (filterSphereBox(d->geom_xpos+3*g, m->geom_rbound[g]+margin,
if (filterSphereBox(d->geom_xpos+3*g, m->geom_rbound[g]+margin+gap,
d->flexelem_aabb+6*eglobal)) {
return;
}
@@ -2087,17 +2095,17 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
// call raw primitive for corresponding geom type
if (type == mjGEOM_SPHERE) {
num = mjraw_SphereCapsule(con, margin,
num = mjraw_SphereCapsule(con, margin + gap,
d->geom_xpos+3*g, d->geom_xmat+9*g, m->geom_size+3*g,
pos, mat, size);
}
else if (type == mjGEOM_CAPSULE) {
num = mjraw_CapsuleCapsule(con, margin,
num = mjraw_CapsuleCapsule(con, margin + gap,
d->geom_xpos+3*g, d->geom_xmat+9*g, m->geom_size+3*g,
pos, mat, size);
}
else {
num = mjraw_CapsuleBox(con, margin,
num = mjraw_CapsuleBox(con, margin + gap,
pos, mat, size,
d->geom_xpos+3*g, d->geom_xmat+9*g, m->geom_size+3*g);
@@ -2110,13 +2118,13 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
// heightfield : elem
else if (type == mjGEOM_HFIELD) {
num = mjc_HFieldElem(m, d, con, g, f, e, margin);
num = mjc_HFieldElem(m, d, con, g, f, e, margin + gap);
}
// sphere : triangle
else if (type == mjGEOM_SPHERE && dim == 2) {
const mjtNum* vertxpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
num = mjraw_SphereTriangle(con, margin,
num = mjraw_SphereTriangle(con, margin + gap,
d->geom_xpos+3*g, m->geom_size[3*g],
vertxpos + 3*edata[0], vertxpos + 3*edata[1],
vertxpos + 3*edata[2], m->flex_radius[f]);
@@ -2125,7 +2133,7 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
// box : triangle
else if (type == mjGEOM_BOX && dim == 2) {
const mjtNum* vertxpos = d->flexvert_xpos + 3 * m->flex_vertadr[f];
num = mjraw_BoxTriangle(con, margin, d->geom_xpos + 3 * g,
num = mjraw_BoxTriangle(con, margin + gap, d->geom_xpos + 3 * g,
d->geom_xmat + 9 * g, m->geom_size + 3 * g,
vertxpos + 3 * edata[0], vertxpos + 3 * edata[1],
vertxpos + 3 * edata[2], m->flex_radius[f]);
@@ -2135,14 +2143,14 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
else if (type == mjGEOM_CAPSULE && dim == 2) {
const mjtNum* vertxpos = d->flexvert_xpos + 3 * m->flex_vertadr[f];
num = mjraw_CapsuleTriangle(
con, margin, d->geom_xpos + 3 * g, d->geom_xmat + 9 * g,
con, margin + gap, d->geom_xpos + 3 * g, d->geom_xmat + 9 * g,
m->geom_size + 3 * g, vertxpos + 3 * edata[0], vertxpos + 3 * edata[1],
vertxpos + 3 * edata[2], m->flex_radius[f]);
}
// general geom : elem
else {
num = mjc_ConvexElem(m, d, con, g, -1, -1, -1, f, e, margin);
num = mjc_ConvexElem(m, d, con, g, -1, -1, -1, f, e, margin + gap);
}
// check contacts
@@ -2153,9 +2161,9 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
// get contact parameters
int condim;
mjtNum gap, friction[5], solref[mjNREF], solimp[mjNIMP];
mjtNum friction[5], solref[mjNREF], solimp[mjNIMP];
mjtNum solreffriction[mjNREF] = {0};
mj_contactParam(m, &condim, &gap, solref, solimp, friction, g, -1, -1, f);
mj_contactParam(m, &condim, solref, solimp, friction, g, -1, -1, f);
// add contacts
for (int i=0; i < num; i++) {
@@ -2170,7 +2178,7 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
con[i].vert[1] = -1;
// set remaining contact parameters
mj_setContact(m, con + i, condim, margin-gap, solref, solreffriction, solimp, friction);
mj_setContact(m, con + i, condim, margin, solref, solreffriction, solimp, friction);
}
// add to ncon
@@ -2184,17 +2192,19 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
// test two elems for collision, add to contact list
void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2) {
mjtNum margin = mj_assignMargin(m, m->flex_margin[f1] + m->flex_margin[f2]);
mjtNum gap = m->flex_gap[f1] + m->flex_gap[f2];
int dim1 = m->flex_dim[f1], dim2 = m->flex_dim[f2];
int num;
// ignore margin in self-collisions
// ignore margin and gap in self-collisions
if (f1 == f2) {
margin = 0;
gap = 0;
}
// bounding box filter (not applied in midphase)
if (filterBox(d->flexelem_aabb+6*(m->flex_elemadr[f1]+e1),
d->flexelem_aabb+6*(m->flex_elemadr[f2]+e2), margin)) {
d->flexelem_aabb+6*(m->flex_elemadr[f2]+e2), margin + gap)) {
return;
}
@@ -2231,12 +2241,12 @@ void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2
pos2, mat2, size2);
// raw primitive
num = mjraw_CapsuleCapsule(con, margin, pos1, mat1, size1, pos2, mat2, size2);
num = mjraw_CapsuleCapsule(con, margin + gap, pos1, mat1, size1, pos2, mat2, size2);
}
// general convex collision
else {
num = mjc_ConvexElem(m, d, con, -1, f1, e1, -1, f2, e2, margin);
num = mjc_ConvexElem(m, d, con, -1, f1, e1, -1, f2, e2, margin + gap);
}
// check contacts
@@ -2247,14 +2257,9 @@ void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2
// get contact parameters
int condim;
mjtNum gap, friction[5], solref[mjNREF], solimp[mjNIMP];
mjtNum friction[5], solref[mjNREF], solimp[mjNIMP];
mjtNum solreffriction[mjNREF] = {0};
mj_contactParam(m, &condim, &gap, solref, solimp, friction, -1, -1, f1, f2);
// ignore gap in self collision, since margin is ignored
if (f1 == f2) {
gap = 0;
}
mj_contactParam(m, &condim, solref, solimp, friction, -1, -1, f1, f2);
// add contacts
for (int i=0; i < num; i++) {
@@ -2269,7 +2274,7 @@ void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2
con[i].vert[1] = -1;
// set remaining contact parameters
mj_setContact(m, con + i, condim, margin-gap, solref, solreffriction, solimp, friction);
mj_setContact(m, con + i, condim, margin, solref, solreffriction, solimp, friction);
}
// add to ncon
@@ -2336,9 +2341,9 @@ void mj_collideElemVert(const mjModel* m, mjData* d, int f, int e, int v) {
// get contact parameters
int condim;
mjtNum gap, friction[5], solref[mjNREF], solimp[mjNIMP];
mjtNum friction[5], solref[mjNREF], solimp[mjNIMP];
mjtNum solreffriction[mjNREF] = {0};
mj_contactParam(m, &condim, &gap, solref, solimp, friction, -1, -1, f, f);
mj_contactParam(m, &condim, solref, solimp, friction, -1, -1, f, f);
// add contacts
for (int i=0; i < num; i++) {
src/experimental/platform/ux/gui_spec.cc
+3 -3
View File
@@ -421,7 +421,7 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
FIELD(solref, "solver reference");
FIELD(solimp, "solver impedance");
FIELD(margin, "margin for contact detection");
FIELD(gap, "include in solver if dist < margin-gap");
FIELD(gap, "additional contact detection buffer");
FIELD(mass, "used to compute density");
FIELD(density, "used to compute mass and inertia from volume or surface");
FIELD(typeinertia, "selects between surface and volume inertia");
@@ -530,7 +530,7 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
FIELD(solref, "solver reference");
FIELD(solimp, "solver impedance");
FIELD(margin, "margin for contact detection");
FIELD(gap, "include in solver if dist<margin-gap");
FIELD(gap, "additional contact detection buffer");
FIELD(dim, "element dimensionality");
FIELD(radius, "radius around primitive element");
FIELD(size, "vertex bounding box half sizes in qpos0");
@@ -626,7 +626,7 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
FIELD(solreffriction, "solver reference, frictional directions");
FIELD(solimp, "solver impedance");
FIELD(margin, "margin for contact detection");
FIELD(gap, "include in solver if dist<margin-gap");
FIELD(gap, "additional contact detection buffer");
FIELD(friction, "full contact friction");
FIELD(info, "message appended to errors");
break;
src/experimental/usd/mjcPhysics/generatedSchema.usda
+2 -2
View File
@@ -312,7 +312,7 @@ class "MjcCollisionAPI" (
)
uniform double mjc:gap = 0 (
displayName = "Gap"
doc = "This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts."
doc = "Additional contact detection buffer beyond margin. Contacts are detected at distance margin + gap but forces are only generated at distance margin."
)
uniform int mjc:group = 0 (
displayName = "Group"
@@ -320,7 +320,7 @@ class "MjcCollisionAPI" (
)
uniform double mjc:margin = 0 (
displayName = "Margin"
doc = "Distance threshold below which contacts are detected and included in the global array mjData.contact."
doc = "Geometric inflation of the geom surface for the purpose of contact force generation."
)
uniform int mjc:priority = 0 (
displayName = "Priority"
src/experimental/usd/mjcPhysics/schema.usda
+2 -2
View File
@@ -738,7 +738,7 @@ class "MjcCollisionAPI"
string apiName = "Margin"
}
displayName = "Margin"
doc = """Distance threshold below which contacts are detected and included in the global array mjData.contact."""
doc = """Geometric inflation of the geom surface for the purpose of contact force generation."""
)
uniform double mjc:gap = 0.0 (
@@ -746,7 +746,7 @@ class "MjcCollisionAPI"
string apiName = "Gap"
}
displayName = "Gap"
doc = """This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts."""
doc = """Additional contact detection buffer beyond margin. Contacts are detected at distance margin + gap but forces are only generated at distance margin."""
)
}
test/engine/engine_collision_gjk_test.cc
+3 -1
View File
@@ -2019,8 +2019,10 @@ TEST_F(MjGjkTest, CylinderBoxMargin) {
mjData* data = mj_makeData(model);
mj_forward(model, data);
// margin=0.1 means forces generated when dist<0.1
// the contact at dist~0.015 is within margin, so forces are generated
EXPECT_EQ(data->ncon, 1);
EXPECT_LT(data->contact[0].efc_address, 0);
EXPECT_GE(data->contact[0].efc_address, 0);
mj_deleteData(data);
mj_deleteModel(model);
test/engine/testdata/collision_box/boxbox_bad0.xml
Vendored
+1 -1
View File
@@ -2,7 +2,7 @@
<!-- This model leads to bad contacts from mjc_BoxBox -->
<default>
<geom rgba="1 1 1 1" margin="1e-3" gap="1e-3"/>
<geom rgba="1 1 1 1" gap="1e-3"/>
<site type="sphere" rgba="0 0 0 0" size="0.001"/>
</default>
test/engine/testdata/collision_primitive/sphere_cylinder.xml
Vendored
+1 -1
View File
@@ -16,7 +16,7 @@
<body pos="0 0 .3">
<freejoint/>
<geom type="sphere" size=".05" rgba=".5 .5 .5 .5" margin="0.1" gap="0.1"/>
<geom type="sphere" size=".05" rgba=".5 .5 .5 .5" gap="0.1"/>
</body>
<body pos="-.5 0 .3">
test/engine/testdata/solver/model.xml
Vendored
+1 -1
View File
@@ -43,7 +43,7 @@
<worldbody>
<light pos="0 0 3"/>
<geom name="floor" type="plane" size="4 4 .1" margin="0.01" gap="0.005"/>
<geom name="floor" type="plane" size="4 4 .1" margin="0.005" gap="0.005"/>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
<body name="head" pos="0 0 .7" gravcomp="0.5">
<geom type="ellipsoid" size=".2 .2 .4" density="200" material="grid"/>
test/testdata/model.xml
Vendored
+1 -1
View File
@@ -43,7 +43,7 @@
<worldbody>
<light pos="0 0 3"/>
<geom name="floor" type="plane" size="4 4 .1" margin="0.01" gap="0.005"/>
<geom name="floor" type="plane" size="4 4 .1" margin="0.005" gap="0.005"/>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
<body name="head" pos="0 0 .7" gravcomp="0.5">
<geom type="ellipsoid" size=".2 .2 .4" density="200" material="grid"/>