Performing the exact same simulation in two environments yields different results. If environment spacing is set to zero the differences disappear(lower bounds and upper bounds from create_env set to 0). With large environment spacing robots clearly drift even on a flat plane with no actuation. The drifting increases with changing position on the environment in the environment grid.
How can I resolve this problem? My workaround is setting environment size to 0, but this makes the simulation incredibly slow. See Issue with Environment spacing and PxgDynamicsMemoryConfig::foundLostAggregatePairsCapacity