debug-physics
Diagnose physics misbehaviour in the Genie Sim RT Engine — robot swings on spawn, contacts tunnel, joints drift past their limits, cloth blows up, the convex-hull proxy renders instead of the visual mesh, or the wrong physics backend is active. Walks the user through the engine's debug toggles (visualizers, marker array, GL viewer, `init_*` teleport, backend swap) and the common failure-mode fixes. Trigger: When the user reports "robot swings at start", "objects float / sink into the floor", "contact tunnelling", "joint went past limit", "robot vibrates / explodes", "shelf looks like a convex hull", "wrong gripper poses", "newton vs physx vs mjwarp difference", or asks to "debug the physics".