Use geom margin in the midphase.

At the leaves of the midphase trees in `mj_collideTree`, a bounding sphere test is performed. The margin was incorrectly set to zero instead of reading it from `geom_margin`. PiperOrigin-RevId: 559782262 Change-Id: Icfceb8445bbf6977582e0061566d7bd4def2f0ae
2023-08-24 09:44:27 -07:00
parent 9255cc58a9
commit b0077e4052
2 changed files with 7 additions and 1 deletions
@@ -43,6 +43,11 @@ Python bindings
 7. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
   camera name used the default camera.

+Bug fixes
+^^^^^^^^^
+
+#. Fixed a bug that was causing the geom margins to be ignored during the midphase.
+

 Version 2.3.7 (July 20, 2023)
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