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Margin and gap redesign (breaking change)

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PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
This commit is contained in:
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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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.
///
/// | ||
/// | -- | -- |