Box<->Capsule Collision

[Andrew-Luo1]

Setup

Simulating scene_terrain.xml from #162 using mujoco warp's viewer.

The Issue

Even with nconmax set to 512*1024 in put_data, n_worlds = 1 and shrinking down scene_terrain.xml down to a 3x3 grid of subterrains (versus the 10x20 default), collisions with pyramids don't look correct. (This doesn't happen in cmujoco).

[camevor]

Hi @Andrew-Luo1, the capsule-box implementation is still under review (#135). Could you try your scene with that branch?
I just tried it and capsule-box looks good to me, but I ran into some box-box collision errors that I'm looking into right now.

[adenzler-nvidia]

@Andrew-Luo1 while you're at it - Chris would love to have some feedback on that PR.

[Andrew-Luo1]

Hi @camevor and @adenzler-nvidia something seems to have broken my dev environment between when I PR'd this terrain and the current upstream on the capsule-box branch, i.e. I can't run the viewer. Actually I've recently begun a stint in the LLM world and will have very limited time to work on this project. Apologies and best of luck!

[adenzler-nvidia]

@camevor - can we close this once #208 is merged?

[camevor]

Yes, running the apollo scene again with the new box-box and capsule-box, the behavior looks good.

[camevor]

The glitches seen no longer occur on main after the merge of Capsule<>Box #135 and the new Box<>Box #208.