Cylinder and capsule sinking through plane

[srmainwaring]

Environment

• OS Version: macOS Sonoma 14.5
• Source build: gz-physics7 (a068d3f)

Description

• Expected behavior: the cylinder and capsule should not pass through the ground plane.
• Actual behavior: the cylinder and capsule slowly sink.

Steps to reproduce

1. run gz sim -v4 -s -r shapes.sdf and gz sim -v4 -g (two commands on macOS).
2. use the rotation tool to tip the cylinder and capsule to the side.
3. raise both objects to ensure there is no initial intersection.

Output

[azeey]

I'm able to reproduce this on the Capule but not the cylinder on Ubuntu. For the capsule shape, I filed an issue on DART a while ago (dartsim/dart#1654), but there hasn't been any update.