Vyankatesh Ashtekar

+1 request!

I prefer an open cone (w/o base). It would not obstruct part geometries or so. Also, since I'm thinking about friction cones, the base does not represent anything. I had...

Hello! I was just wondering if there's been any update on this.

Nope, I have no update on it. I can give it a try/someone with better expertise can give it a try if @yuvaltassa outlines the steps. I believe one can...

Specs for cone (in the notation of [mjv_initGeom](https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mjv-initgeom)): `pos`: (x,y,z) corresponds to the cone tip `size`: (a,b,h) elliptical cross-section defined by a and b. Cone height: h `mat`: Rotation matrix...

Thanks a lot! I was wondering if we could see the edges better.  

Something like this (the sphere is just for debugging)  Tried out something inspired by the `mjGEOM_LINEBOX`. ``` case mjGEOM_PYRAMID: // pyramid glBegin(GL_TRIANGLES); glVertex3f(0, 0, 0); glVertex3f(size[0], 0, size[2]); glVertex3f(0,...

> Below are images of the test model I'm using. Note the pyramids/cones are open, correctly correspond to and non-isotropic friction is correctly visualized (If you didn't know MuJoCo could...