Increasing obstacle penalty in acoustic tracking task

[caguero]

As discussed offline, we're bumping the penalty for hitting obstacles from 0.1m to 1m.

[M1chaelM]

This looks like a very straightforward change, so I'm not sure if it's related to the problems I'm experiencing, but it seems like too many collisions (or collisions that are too violent?) cause the simulation to crash. The error I get on runs with more than a couple collisions (e.g. 6-12) seems at least superficially to have something to do with collisions:

[ruby $(which gz) sim-1] ODE INTERNAL ERROR 1: assertion "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact" failed in collide() [collision_space.cpp:460]
[ruby $(which gz) sim-1] Stack trace (most recent call last):
[ruby $(which gz) sim-1] #31   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc233a2c96, in 
[ruby $(which gz) sim-1] #30   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc2339ffc5, in 
[ruby $(which gz) sim-1] #29   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc2339dc34, in 
[ruby $(which gz) sim-1] #28   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc232e9a1e, in 
[ruby $(which gz) sim-1] #27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc232149ac, in rb_protect
[ruby $(which gz) sim-1] #26   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc233acc61, in rb_yield
[ruby $(which gz) sim-1] #25   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc233a830c, in rb_vm_exec
[ruby $(which gz) sim-1] #24   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc233a2c96, in 
[ruby $(which gz) sim-1] #23   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc2339ffc5, in 
[ruby $(which gz) sim-1] #22   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc2339dc34, in 
[ruby $(which gz) sim-1] #21   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7efc1f10344b, in 
[ruby $(which gz) sim-1] #20   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7efc2336b088, in rb_nogvl
[ruby $(which gz) sim-1] #19   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7efc1f102d6b, in 
[ruby $(which gz) sim-1] #18   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7efc1f0f4492, in 
[ruby $(which gz) sim-1] #17   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7efc1f0f7e2d, in 
[ruby $(which gz) sim-1] #16   Object "/home/[email protected]/gazebo_ws/install/lib/libgz-sim7-gz.so.7.0.0", at 0x7efc1e60396a, in runServer
[ruby $(which gz) sim-1] #15   Object "/home/[email protected]/gazebo_ws/install/lib/libgz-sim7.so.7", at 0x7efc1e26299c, in 
[ruby $(which gz) sim-1] #14   Object "/home/[email protected]/gazebo_ws/install/lib/libgz-sim7.so.7", at 0x7efc1e27563a, in gz::sim::v7::SimulationRunner::Run(unsigned long)
[ruby $(which gz) sim-1] #13   Object "/home/[email protected]/gazebo_ws/install/lib/libgz-sim7.so.7", at 0x7efc1e274dd0, in gz::sim::v7::SimulationRunner::Step(gz::sim::v7::UpdateInfo const&)
[ruby $(which gz) sim-1] #12   Object "/home/[email protected]/gazebo_ws/install/lib/libgz-sim7.so.7", at 0x7efc1e26b7e9, in gz::sim::v7::SimulationRunner::UpdateSystems()
[ruby $(which gz) sim-1] #11   Object "/home/[email protected]/gazebo_ws/install/lib/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7efc04723b88, in gz::sim::v7::systems::Physics::Update(gz::sim::v7::UpdateInfo const&, gz::sim::v7::EntityComponentManager&)
[ruby $(which gz) sim-1] #10   Object "/home/[email protected]/gazebo_ws/install/lib/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7efc0470e6c3, in gz::sim::v7::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
[ruby $(which gz) sim-1] #9    Object "/home/[email protected]/gazebo_ws/install/lib/gz-physics-6/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7efbec8b0e9c, in gz::physics::dartsim::SimulationFeatures::WorldForwardStep(gz::physics::Identity const&, gz::physics::SpecifyData<gz::physics::RequireData<gz::physics::WorldPoses>, gz::physics::ExpectData<gz::physics::ChangedWorldPoses, gz::physics::Contacts, gz::physics::JointPositions> >&, gz::physics::CompositeData&, gz::physics::ExpectData<gz::physics::ApplyExternalForceTorques, gz::physics::ApplyGeneralizedForces, gz::physics::VelocityControlCommands, gz::physics::ServoControlCommands, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)
[ruby $(which gz) sim-1] #8    Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7efbec4f5e73, in dart::simulation::World::step(bool)
[ruby $(which gz) sim-1] #7    Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7efbec4db705, in dart::constraint::ConstraintSolver::solve()
[ruby $(which gz) sim-1] #6    Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7efbec4d9fe1, in dart::constraint::ConstraintSolver::updateConstraints()
[ruby $(which gz) sim-1] #5    Object "/lib/x86_64-linux-gnu/libdart-collision-ode.so.6.12", at 0x7efbec6dd1cb, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
[ruby $(which gz) sim-1] #4    Object "/lib/x86_64-linux-gnu/libode.so.8", at 0x7efbebfd8266, in dxHashSpace::collide(void*, void (*)(void*, dxGeom*, dxGeom*))
[ruby $(which gz) sim-1] #3    Object "/lib/x86_64-linux-gnu/libode.so.8", at 0x7efbebfe07b7, in dDebug
[ruby $(which gz) sim-1] #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7efc22f6e7f2, in abort
[ruby $(which gz) sim-1] #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7efc22f88475, in raise
[ruby $(which gz) sim-1] #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7efc22fdca7c, in pthread_kill
[ruby $(which gz) sim-1] Aborted (Signal sent by tkill() 10188 766438638)

I also tried a run without moving the WAM-V at all and one with only 2 collisions and it didn't crash.

[caguero]

I managed to reproduce this issue on main, so I think it's not related with this PR.

[M1chaelM]

Works as expected. I ran the task to make sure the score was updated by the right value at the end. As a side note, I found it extremely difficult to complete this task without producing a crash, even when moving the WAMV very cautiously. Ultimately I gave up and just let the WAMV remain still after 10 very careful collisions with a buoy. My takeaway is that issue #690 is more important than I initially realized.