[bugfix]: cylinder primitive collision shape did not use halflength

[aclegg3]

Motivation and Context

Using a modified primitive cylinder shape as a collision asset resulted in erroneous collision shape because constructor ignored configured half-length.

How Has This Been Tested

Locally. Isn't CI tested. 🤔
TODO: Could be tested by comparing render and collision bounding boxes for these edge cases.
Example:

def construct_cylinder_object(
        sim: Simulator,
        cyl_radius: float = 0.04,
        cyl_height: float = 0.15,
    ):
        constructed_cyl_obj_handle = f"cylinder_test_obj_r{cyl_radius}_h{cyl_height}"

        otm = sim.metadata_mediator.object_template_manager
        if not otm.get_library_has_handle(constructed_cyl_obj_handle):
            # ensure that a correctly sized asset mesh is available
            atm = sim.metadata_mediator.asset_template_manager
            half_length = (cyl_height / 2.0) / cyl_radius
            custom_prim_name = f"cylinderSolid_rings_1_segments_12_halfLen_{half_length}_useTexCoords_false_useTangents_false_capEnds_true"

            if not atm.get_library_has_handle(custom_prim_name):
                # build the primitive template
                cylinder_prim_handle = atm.get_template_handles("cylinderSolid")[0]
                cyl_template = atm.get_template_by_handle(cylinder_prim_handle)
                # default radius==1, so we modify the half-length
                cyl_template.half_length = half_length
                atm.register_template(cyl_template)

            if not otm.get_library_has_handle(constructed_cyl_obj_handle):
                default_cyl_template_handle = otm.get_synth_template_handles("cylinderSolid")[0]
                default_cyl_template = otm.get_template_by_handle(default_cyl_template_handle)
                default_cyl_template.render_asset_handle = custom_prim_name
                default_cyl_template.collision_asset_handle = custom_prim_name
                # our prim asset has unit radius, so scale the object by desired radius
                default_cyl_template.scale = mn.Vector3(cyl_radius)
                otm.register_template(default_cyl_template, constructed_cyl_obj_handle)
                assert otm.get_library_has_handle(constructed_cyl_obj_handle)
        return constructed_cyl_obj_handle

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[jturner65]

This is concerning to me. I tested this 3 years ago when I assigned the magnum prims to the objects. I'm going to investigate the other prims being used here to see if any other objects are behaving incorrectly.

[aclegg3]

This is concerning to me. I tested this 3 years ago when I assigned the magnum prims to the objects. I'm going to investigate the other prims being used here to see if any other objects are behaving incorrectly.

I think this was overlooked because you can technically just scale the cylinder object instead of this somewhat convoluted pathway, lol.

[jturner65]

LGTM

I agree we need to test for this eventually, but we can add that in another PR.