chenlin/Mujoco_WASM
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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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+1 -1
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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>