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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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test/engine/testdata/collision_box/boxbox_bad0.xml
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@@ -2,7 +2,7 @@
<!-- This model leads to bad contacts from mjc_BoxBox -->
<default>
<geom rgba="1 1 1 1" margin="1e-3" gap="1e-3"/>
<geom rgba="1 1 1 1" gap="1e-3"/>
<site type="sphere" rgba="0 0 0 0" size="0.001"/>
</default>
test/engine/testdata/collision_primitive/sphere_cylinder.xml
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+1 -1
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@@ -16,7 +16,7 @@
<body pos="0 0 .3">
<freejoint/>
<geom type="sphere" size=".05" rgba=".5 .5 .5 .5" margin="0.1" gap="0.1"/>
<geom type="sphere" size=".05" rgba=".5 .5 .5 .5" gap="0.1"/>
</body>
<body pos="-.5 0 .3">
test/engine/testdata/solver/model.xml
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@@ -43,7 +43,7 @@
<worldbody>
<light pos="0 0 3"/>
<geom name="floor" type="plane" size="4 4 .1" margin="0.01" gap="0.005"/>
<geom name="floor" type="plane" size="4 4 .1" margin="0.005" gap="0.005"/>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
<body name="head" pos="0 0 .7" gravcomp="0.5">
<geom type="ellipsoid" size=".2 .2 .4" density="200" material="grid"/>