[Proposal] Add `replace_cylinders_with_capsules` option in Urdf converters

[ZiwenZhuang]

Proposal

Adding replace_cylinders_with_capsules in the urdf converters configuration class.

Motivation

Previously in IsaacGym/legged_gym, replace_cylinders_with_capsules option can make the simulation faster and more stable. However, when radius is a lot greater than cylinders' length, the collision shape will be extremely different.

Please consider adding this option in the implementation of _get_urdf_import_config

Additional context

I've checked that this does not need any other implementations, just adding two lines of code.

1. In _get_urdf_import_config of UrdfConverter in omni.isaac.lab/omni/Isaac/lab/sim/converters/urdf_converters.py

   

2. In UrdfConverterCfg in omni.isaac.lab/omni/Isaac/lab/sim/converters/urdf_converters_cfg.py

   

Checklist

• [x] I have checked that there is no similar issue in the repo (required)

[RandomOakForest]

Thank you for posting this. The team will review as a possible enhancement in an upcoming release.