AIRO-1625 Add capsule shape

[woven-suomi-tanishige]

Proposed change(s)

Added capsule shape support

Useful links (GitHub issues, JIRA tickets, forum threads, etc.)

issue

Types of change(s)

• [ ] Bug fix
• [x] New feature
• [ ] Code refactor
• [ ] Documentation update
• [ ] Other (please describe)

Testing and Verification

Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.

Test Configuration:

• Unity Version: [e.g. Unity 2020.2.0f1]
• Unity machine OS + version: [e.g. Windows 10]
• ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic]
• ROS–Unity communication: [e.g. Docker]

Checklist

• [x] Ensured this PR is up-to-date with the dev branch
• [x] Created this PR to target the dev branch
• [x] Followed the style guidelines as described in the Contribution Guidelines
• [x] Added tests that prove my fix is effective or that my feature works
• [ ] Increased the test coverage criteria by 3%
• [x] Updated the Changelog and described changes in the Unreleased section
• [ ] Updated the documentation as appropriate

Other comments

[unity-cla-assistant]

All committers have signed the CLA.

[woven-suomi-tanishige]

Hi, @vidurvij-Unity Could you please move forward with this review?

[vidurvij-Unity]

I reviewed, everything sees great. Could give me the write rights as I need to merge dev branch form this repo to the branch being merged.

[vidurvij-Unity]

Never mind. I have changed the base to an intermediary branch on which our internal tests can be run.