Fix: Migrate suction margin/gap for MuJoCo 3.9 contact semantics - #811
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Fix: Migrate suction margin/gap for MuJoCo 3.9 contact semantics#811danwahl wants to merge 1 commit into
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MuJoCo 3.9 redesigned contact margin/gap. Detection moved from `dist < margin` to `dist < margin + gap`, and force generation from `dist < margin - gap` to `dist < margin`. All five suction sites here use margin == gap, the idiom for "detect early but only apply force on true contact". Under the new semantics that same markup generates force from a full margin away, so the cups push parts off before touching them. Measured with margin = gap = 0.02: on 3.6 a 15 mm separation is detected with no force, on 3.10 it is force-generating. Applies the upstream migration, margin_new = margin_old - gap_old, which is 0 at every site since margin equals gap. This is the same markup upstream migrated its own adhesion demo to. Ordering: this markup only behaves correctly on MuJoCo 3.10 or newer. Under 3.6 it reads as detection at 0 and force at -gap, so the cups stop sensing parts until they interpenetrate. Merge this only once moveit_pro ships the 3.10 bump, which also carries the widen_body_margin_for_gap change that restores detection on multi-geom bodies. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012DpJinnRQknbm62X7GCveK
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Motivation
MuJoCo 3.9 redesigned the contact
marginandgapgeom attributes, and every suction site here uses the pre-3.9 idiom.Brief description
Detection moved from
dist < margintodist < margin + gap, and force fromdist < margin - gaptodist < margin. All five sites usemargin == gap— the idiom for sensing a part without pushing it away — which now generates force from a full margin out: atmargin = gap = 0.02, a 15 mm separation is force-generating on 3.10 where 3.6 produced none.Applies the upstream migration
margin_new = margin_old - gap_old, zero at every site — the markup upstream moved its own adhesion demo to.factory_sim'soverride="enable"forces every margin too_margin, so its edits are inert there; kept for consistency.Merge order
Only correct on MuJoCo 3.10+. Under the 3.6 shipping today this reads as detection at
0, so cups stop sensing parts until they interpenetrate.How it was tested
margin + gap, zero force-generating contacts, force only on penetration.factory_simObjectives run end to end against the paired branch.Release notes
None — the user-facing migration guidance ships with PickNikRobotics/moveit_pro#20813.