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Move the collision geoms to geom group 3 #22

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Merged
T-K-233 merged 1 commit into from
Oct 2, 2026
Merged

Move the collision geoms to geom group 3 #22

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34 changes: 17 additions & 17 deletions lite_description/robots/lite/mjcf/lite.xml
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22 changes: 11 additions & 11 deletions lite_description/robots/lite_bimanual/mjcf/lite_bimanual.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,9 @@
<worldbody>
<body name="chest">
<inertial pos="0.0223994 -6.1147e-08 0.218844" quat="0.991874 4.90987e-06 0.127224 -6.29771e-07" mass="5.67528" diaginertia="0.120398 0.116403 0.0510428" />
<geom size="0.053 0.08" pos="0.055 0 0.18" quat="0.70256 0.0800467 -0.080047 -0.702563" type="capsule" />
<geom size="0.02 0.04 0.09" pos="0.045 -0.04 0.22" quat="0.706863 0.0185097 -0.140975 -0.692913" type="box" />
<geom size="0.02 0.04 0.09" pos="0.045 0.04 0.22" quat="0.69291 0.140974 -0.0185102 -0.706866" type="box" />
<geom size="0.053 0.08" pos="0.055 0 0.18" quat="0.70256 0.0800467 -0.080047 -0.702563" type="capsule" group="3" />
<geom size="0.02 0.04 0.09" pos="0.045 -0.04 0.22" quat="0.706863 0.0185097 -0.140975 -0.692913" type="box" group="3" />
<geom size="0.02 0.04 0.09" pos="0.045 0.04 0.22" quat="0.69291 0.140974 -0.0185102 -0.706866" type="box" group="3" />
<geom pos="0.0223994 -6.1147e-08 0.218844" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.877556 0.877556 0.877556 1" mesh="chest_visual" />
<body name="left_shoulder_pitch" pos="0.02 0.09 0.36" quat="0.766046 -0.642786 0 0">
<inertial pos="-6.27e-10 -0.00168619 -0.00682299" quat="0.696279 -0.123273 0.123273 0.696279" mass="0.375" diaginertia="0.000238351 0.000232695 0.000194679" />
Expand All @@ -38,7 +38,7 @@
<body name="left_shoulder_yaw" pos="0 0.12 0" quat="0.499998 0.5 -0.5 0.500002">
<inertial pos="0.00503665 -3.0465e-08 -0.0550993" quat="0.996504 2.04058e-06 -0.0835499 -3.31585e-06" mass="0.43" diaginertia="0.000502625 0.000498656 0.000210072" />
<joint name="left_shoulder_yaw" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-14 14" frictionloss="0.1" armature="0.002" />
<geom size="0.035 0.06" pos="0 0 0.06" quat="9.38184e-07 0.707105 0.707108 9.38187e-07" type="capsule" />
<geom size="0.035 0.06" pos="0 0 0.06" quat="9.38184e-07 0.707105 0.707108 9.38187e-07" type="capsule" group="3" />
<geom pos="0.00503665 -3.0465e-08 -0.0550993" quat="0.707105 -0.707108 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.933333 0.933333 0.933333 1" mesh="left_shoulder_yaw_visual" />
<body name="left_elbow_pitch" pos="0.01 0 -0.08" quat="0.707105 -0.707108 0 0">
<inertial pos="-0.00956573 0.0258355 -2.70123e-07" quat="0.986546 0.00017609 0.000556095 0.163484" mass="0.11" diaginertia="0.000118876 9.45214e-05 7.93924e-05" />
Expand All @@ -47,7 +47,7 @@
<body name="left_wrist_yaw" pos="-0.01 0.055 0" quat="0.707105 0.707108 0 0">
<inertial pos="1.26198e-07 -2.64771e-05 -0.0592502" quat="0.705448 -2.28309e-05 2.81941e-05 0.708762" mass="0.54" diaginertia="0.000856128 0.000850281 0.000282296" />
<joint name="left_wrist_yaw" pos="0 0 0" axis="0 0 1" range="-2.0944 1.5708" actuatorfrcrange="-5.5 5.5" frictionloss="0.1" armature="0.002" />
<geom size="0.03 0.095" pos="0 0 -0.04" type="capsule" />
<geom size="0.03 0.095" pos="0 0 -0.04" type="capsule" group="3" />
<geom pos="1.26198e-07 -2.64771e-05 -0.0592502" quat="0.707105 -0.707108 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.933333 0.933333 0.933333 1" mesh="left_wrist_yaw_visual" />
<body name="left_wrist_roll" pos="0 0 -0.135" quat="0.707105 -0.707108 0 0">
<inertial pos="3.48e-10 1e-12 -2.12e-10" quat="0.500011 0.499989 0.500011 0.499989" mass="0.25" diaginertia="9.19125e-05 9.04076e-05 7.92687e-05" />
Expand All @@ -56,8 +56,8 @@
<body name="left_hand" quat="0.707105 0 0.707108 0">
<inertial pos="0.0044138 0.1008 0.00606018" quat="0.656957 0.753902 0.0039914 -0.00473008" mass="0.167493" diaginertia="0.000456313 0.000413603 9.23022e-05" />
<joint name="left_wrist_pitch" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398" actuatorfrcrange="-5.5 5.5" frictionloss="0.1" armature="0.002" />
<geom size="0.006 0.03" pos="-0.007 0.194 0.0225" quat="0.499998 0.5 0.5 -0.500002" type="capsule" />
<geom size="0.035 0.02" pos="0.01 0.1 0.0005" quat="0.499998 0.5 0.5 -0.500002" type="capsule" />
<geom size="0.006 0.03" pos="-0.007 0.194 0.0225" quat="0.499998 0.5 0.5 -0.500002" type="capsule" group="3" />
<geom size="0.035 0.02" pos="0.01 0.1 0.0005" quat="0.499998 0.5 0.5 -0.500002" type="capsule" group="3" />
<geom pos="0.0044138 0.1008 0.00606018" quat="0.707105 0 -0.707108 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.935303 0.913041 0.886642 1" mesh="left_hand_visual" />
<body name="left_finger2_tip" pos="-0.007 0.225 0.0225" quat="0.499998 -0.5 -0.500002 0.5">
<inertial pos="0 0 0" mass="1e-09" diaginertia="0 0 0" />
Expand All @@ -80,7 +80,7 @@
<body name="right_shoulder_yaw" pos="0 0.12 0" quat="0.499998 0.5 -0.5 0.500002">
<inertial pos="0.00503646 -5.8721e-08 -0.0550993" quat="0.996504 -1.23952e-06 -0.0835502 3.73219e-05" mass="0.43" diaginertia="0.000502628 0.000498658 0.000210071" />
<joint name="right_shoulder_yaw" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-14 14" frictionloss="0.1" armature="0.002" />
<geom size="0.035 0.06" pos="0 0 0.06" quat="9.38184e-07 0.707105 0.707108 9.38187e-07" type="capsule" />
<geom size="0.035 0.06" pos="0 0 0.06" quat="9.38184e-07 0.707105 0.707108 9.38187e-07" type="capsule" group="3" />
<geom pos="0.00503646 -5.8721e-08 -0.0550993" quat="0.707105 0.707108 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.933333 0.933333 0.933333 1" mesh="right_shoulder_yaw_visual" />
<body name="right_elbow_pitch" pos="0.01 0 -0.08" quat="0.707105 -0.707108 0 0">
<inertial pos="-0.0095654 0.0258358 1.46047e-06" quat="0.986544 -0.000110648 -0.000508683 0.163496" mass="0.11" diaginertia="0.000118878 9.45223e-05 7.93932e-05" />
Expand All @@ -89,7 +89,7 @@
<body name="right_wrist_yaw" pos="-0.01 0.055 0" quat="0.707105 0.707108 0 0">
<inertial pos="1.99324e-07 2.65767e-05 -0.0592501" quat="0.708838 2.88203e-05 -2.39464e-05 0.705371" mass="0.54" diaginertia="0.000856128 0.000850282 0.000282295" />
<joint name="right_wrist_yaw" pos="0 0 0" axis="0 0 1" range="-1.5708 2.0944" actuatorfrcrange="-5.5 5.5" frictionloss="0.1" armature="0.002" />
<geom size="0.03 0.095" pos="0 0 -0.04" quat="1.32679e-06 0 0 1" type="capsule" />
<geom size="0.03 0.095" pos="0 0 -0.04" quat="1.32679e-06 0 0 1" type="capsule" group="3" />
<geom pos="1.99324e-07 2.65767e-05 -0.0592501" quat="0.707105 0.707108 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.933333 0.933333 0.933333 1" mesh="right_wrist_yaw_visual" />
<body name="right_wrist_roll" pos="0 0 -0.135" quat="0.707105 -0.707108 0 0">
<inertial pos="4.084e-09 -2e-12 -2.02e-10" quat="0.499585 0.500415 0.499585 0.500415" mass="0.25" diaginertia="9.19094e-05 9.04084e-05 7.92688e-05" />
Expand All @@ -98,8 +98,8 @@
<body name="right_hand" quat="0.707105 0 0.707108 0">
<inertial pos="-0.00441379 0.100801 0.0060602" quat="0.656957 0.753902 -0.0039883 0.0047276" mass="0.167493" diaginertia="0.000456312 0.000413602 9.23024e-05" />
<joint name="right_wrist_pitch" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398" actuatorfrcrange="-5.5 5.5" frictionloss="0.1" armature="0.002" />
<geom size="0.006 0.03" pos="0.007 0.194 0.0225" quat="0.499998 0.5 -0.5 0.500002" type="capsule" />
<geom size="0.035 0.02" pos="-0.01 0.1 0.0005" quat="0.499998 0.5 -0.5 0.500002" type="capsule" />
<geom size="0.006 0.03" pos="0.007 0.194 0.0225" quat="0.499998 0.5 -0.5 0.500002" type="capsule" group="3" />
<geom size="0.035 0.02" pos="-0.01 0.1 0.0005" quat="0.499998 0.5 -0.5 0.500002" type="capsule" group="3" />
<geom pos="-0.00441379 0.100801 0.0060602" quat="9.38184e-07 0.707105 -9.38187e-07 0.707108" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.935303 0.913041 0.886642 1" mesh="right_hand_visual" />
<body name="right_finger2_tip" pos="0.007 0.225 0.0225" quat="0.499998 0.5 0.500002 0.5">
<inertial pos="0 0 0" mass="1e-09" diaginertia="0 0 0" />
Expand Down
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