MJX: missing box-cylinder collision function?

[Nate711]

Intro

User

My setup

MJX

My question

Is there a cylinder-box collision routine in MJX? I was looking at https://github.com/google-deepmind/mujoco/blob/main/mjx/mujoco/mjx/_src/collision_driver.py#L81 and couldn't find one.

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[btaba]

No there is not!

[btaba]

Hi Nathan! Hope all is well

[Nate711]

Good to know thanks! Now I remember why I changed my motor collision geometry from cylinders to spheres.

Anyways keep up the great work! Looking forward to mujoco-warp.