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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
View File
@@ -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: