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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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src/experimental/platform/ux/gui_spec.cc
+3 -3
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@@ -421,7 +421,7 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
FIELD(solref, "solver reference");
FIELD(solimp, "solver impedance");
FIELD(margin, "margin for contact detection");
FIELD(gap, "include in solver if dist < margin-gap");
FIELD(gap, "additional contact detection buffer");
FIELD(mass, "used to compute density");
FIELD(density, "used to compute mass and inertia from volume or surface");
FIELD(typeinertia, "selects between surface and volume inertia");
@@ -530,7 +530,7 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
FIELD(solref, "solver reference");
FIELD(solimp, "solver impedance");
FIELD(margin, "margin for contact detection");
FIELD(gap, "include in solver if dist<margin-gap");
FIELD(gap, "additional contact detection buffer");
FIELD(dim, "element dimensionality");
FIELD(radius, "radius around primitive element");
FIELD(size, "vertex bounding box half sizes in qpos0");
@@ -626,7 +626,7 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
FIELD(solreffriction, "solver reference, frictional directions");
FIELD(solimp, "solver impedance");
FIELD(margin, "margin for contact detection");
FIELD(gap, "include in solver if dist<margin-gap");
FIELD(gap, "additional contact detection buffer");
FIELD(friction, "full contact friction");
FIELD(info, "message appended to errors");
break;
src/experimental/usd/mjcPhysics/generatedSchema.usda
+2 -2
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@@ -312,7 +312,7 @@ class "MjcCollisionAPI" (
)
uniform double mjc:gap = 0 (
displayName = "Gap"
doc = "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."
doc = "Additional contact detection buffer beyond margin. Contacts are detected at distance margin + gap but forces are only generated at distance margin."
)
uniform int mjc:group = 0 (
displayName = "Group"
@@ -320,7 +320,7 @@ class "MjcCollisionAPI" (
)
uniform double mjc:margin = 0 (
displayName = "Margin"
doc = "Distance threshold below which contacts are detected and included in the global array mjData.contact."
doc = "Geometric inflation of the geom surface for the purpose of contact force generation."
)
uniform int mjc:priority = 0 (
displayName = "Priority"
src/experimental/usd/mjcPhysics/schema.usda
+2 -2
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@@ -738,7 +738,7 @@ class "MjcCollisionAPI"
string apiName = "Margin"
}
displayName = "Margin"
doc = """Distance threshold below which contacts are detected and included in the global array mjData.contact."""
doc = """Geometric inflation of the geom surface for the purpose of contact force generation."""
)
uniform double mjc:gap = 0.0 (
@@ -746,7 +746,7 @@ class "MjcCollisionAPI"
string apiName = "Gap"
}
displayName = "Gap"
doc = """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."""
doc = """Additional contact detection buffer beyond margin. Contacts are detected at distance margin + gap but forces are only generated at distance margin."""
)
}