little change in the measurement.py file

mpi_sim/utils/measurements.py

@@ -71,24 +71,27 @@ def measure_distance(p1, p2, simulation=None):
         if simulation is None:
             raise UserWarning('The distance measurement between an object and a position needs the simulation')
         
+        # In case the object is given in firt or second position
         if isinstance(p1, mpi_sim.Object) :
             _object = p1
-            point = p2
+            _point = p2
         else :
             _object = p2
-            point = p1
+            _point = p1
 
         distance = np.inf
         point_a = None
         point_b = None
 
+        # Creating an object to measure the distance from
         fake_dot_obj = mpi_sim.objects.RoundTable(
-            position=point,
+            position=_point,
             orientation=0,
             radius = 0.000001,
         )
         simulation.add_object(fake_dot_obj)
 
+        # Measure the min distance for each bodies and each fixture
         for body_a in fake_dot_obj.box2d_bodies:
             for fixture_a in body_a.fixtures:
 
@@ -114,8 +117,12 @@ def measure_distance(p1, p2, simulation=None):
                             distance = b2_dist_info.distance
                             point_a = np.array(b2_dist_info.pointA)
                             point_b = np.array(b2_dist_info.pointB)
-            
+        
+        # Remove the fake object from simulation
         simulation.remove_object(fake_dot_obj)
+        
+        # Correct the distance measurement w.r.t to its radius
+        distance += 0.000001
 
     return DistanceInfo(distance, point_a, point_b)