chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Margin and gap redesign (breaking change)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
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',