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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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model/adhesion/active_adhesion.xml
+6 -6
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@@ -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>