Mitigate levitation issue

[azaleacolburn]

Description

Previously, all robots levitated a bunch and it looked really ugly, by lowering the suspension factor, some robots (like Dozer) will still levitate but not appear to do so. Other robots, however, will still have a minimum amount of levitation due to wheel suspension. I speculate that it has something to do with the physics of real vs toon robots, as that seemed to be the distinguishing factor, perhaps the dimensions or hit-boxes on the real robots are ill defined, or the wheel types work differently, I'm not really sure. The only way to fix it for them is to set the suspension constants to 0, which causes collision-like issues with the ground (for some reason). To fix the collision issue, I tried disabling friction and printing for collisions, however, no collisions were being triggered when the robots tried and failed to be moved forward while touching the ground. I left this mini-investigation very confused.

I'm going to come back to this ticket another time and take another crack at it, since I'm sure I could do better with a bit of inspiration and some more time to test

Objectives

• To reduce levitation
• To make all robots not need to levitate to move

Testing Done

• Testing grounded movement with normal, increased, minimized, and no friction
• Testing collisions caused during grounded movement
• Testing how wheel suspension (and other jolt wheel settings) affect levitation and movement
  • https://jrouwe.github.io/JoltPhysicsDocs/5.1.0/class_wheel_settings.html#a29632dde4d9c95457019aa478e415345
• Testing to make sure the suspension changes don't have negative externalities

JIRA Issue

Note

This PR doesn't exactly close this ticket, it's just a mitigation of the issue.