Add primitive sphere-cylinder collider.

PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036

test/engine/testdata/collision_primitive/sphere_cylinder.xml

@@ -0,0 +1,44 @@
+<mujoco>
+  <statistic meansize="0.15"/>
+
+  <visual>
+    <map force="0.02"/>
+    <scale contactheight=".05" contactwidth=".2"/>
+    <headlight ambient=".4 .4 .4"/>
+  </visual>
+
+  <option>
+    <flag gravity="disable"/>
+  </option>
+
+  <worldbody>
+    <light pos="0 0 1"/>
+
+    <body pos="0 0 .3">
+      <freejoint/>
+      <geom type="sphere" size=".05" rgba=".5 .5 .5 .5" margin="0.1" gap="0.1"/>
+    </body>
+
+    <body pos="-.5 0 .3">
+      <freejoint/>
+      <geom type="sphere" size=".1" rgba=".5 .5 .5 .5"/>
+    </body>
+
+    <body mocap="true"  pos="-1 0 0">
+      <geom type="cylinder" size=".2 .01" rgba=".5 .5 .5 .3" margin=".04"/>
+    </body>
+
+    <body mocap="true"  pos="-.5 0 0">
+      <geom type="cylinder" size=".2 .04" rgba=".5 .5 .5 .3"/>
+    </body>
+
+    <body mocap="true">
+      <geom type="cylinder" size=".2 .2" rgba=".5 .5 .5 .3"/>
+    </body>
+
+    <body mocap="true" pos=".5 0 0">
+      <geom type="cylinder" size=".02 .1" rgba=".5 .5 .5 .3"/>
+    </body>
+
+  </worldbody>
+</mujoco>

test/engine/testdata/collision_primitive/spheres_cylinders.xml

@@ -0,0 +1,63 @@
+<mujoco>
+  <statistic extent="1.5" meansize=".05"/>
+
+  <option solver="CG" tolerance="1e-6"/>
+
+  <size memory="5M"/>
+
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
+    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
+      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+  </asset>
+
+  <default>
+    <geom solref=".005 1"/>
+    <default class="wall">
+      <geom type="plane" size=".5 .5 .05"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
+    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
+
+    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
+
+    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
+      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
+    </body>
+
+    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
+    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
+    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
+    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
+
+    <composite type="particle" count="3 3 2" spacing="0.2" offset="0 0 1">
+      <geom type="sphere" size=".09" rgba=".8 .2 .1 1" condim="3"/>
+      <joint kind="particle" type="free"/>
+    </composite>
+
+    <composite type="particle" count="3 3 2" spacing="0.2" offset="0 0 1.6" prefix="A">
+      <geom type="cylinder" size=".09 .02" rgba=".8 .2 .1 1" condim="3"/>
+      <joint kind="particle" type="free"/>
+    </composite>
+
+    <composite type="particle" count="3 3 2" spacing="0.2" offset="0 0 2.2" prefix="B">
+      <geom type="cylinder" size=".02 .09" rgba=".8 .2 .1 1" condim="3"/>
+      <joint kind="particle" type="free"/>
+    </composite>
+
+    <composite type="particle" count="3 3 2" spacing="0.2" offset="0 0 2.8" prefix="C">
+      <geom type="sphere" size=".06" rgba=".8 .2 .1 1" condim="3"/>
+      <joint kind="particle" type="free"/>
+    </composite>
+
+  </worldbody>
+</mujoco>