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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/mjspec.h
+3 -3
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@@ -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;