Add Capsule geom - #2163
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One minor comment, looks good otherwise
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Why? What?
Adds
CapsuleGeom to our bevy mujoco visualizer.These will be required in #2158
Also fixes an orientation mismatch between cylinders and capsules between mujoco and bevy.
In mujoco these geoms are aligned along the z-axis, whereas bevy aligns them along the x-axis by default.
This is fixed with an extra transform component.
Additionally, mujoco often uses half lengths, whereas bevy uses full lengths. This PR fixes that by doubling some of the lengths on the bevy side.
Twix:
MuJoCo Native Visualizer:
Describe here why you created this PR and what it does
Fixes #
ToDo / Known Issues
If this is a WIP describe which problems are to be fixed.
Ideas for Next Iterations (Not This PR)
How to Test