From b9336e2f30cdf07095ae5278f2759dabb961cf13 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <kevinarmandzakka@gmail.com>
Date: Thu, 5 Sep 2024 12:04:52 -0700
Subject: [PATCH] Remove contype/conaffinity from plane since they are already
 set to defaults.

---
 pal_talos/scene_motor.xml    |  2 +-
 pal_talos/scene_position.xml |  2 +-
 pal_talos/scene_velocity.xml |  2 +-
 pal_talos/talos_position.xml | 96 ++++++++++++++++++++++++------------
 4 files changed, 67 insertions(+), 35 deletions(-)

diff --git a/pal_talos/scene_motor.xml b/pal_talos/scene_motor.xml
index a26193bc..5f488889 100644
--- a/pal_talos/scene_motor.xml
+++ b/pal_talos/scene_motor.xml
@@ -16,7 +16,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
+    <geom name="floor" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
     <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
   </worldbody>
 </mujoco>
diff --git a/pal_talos/scene_position.xml b/pal_talos/scene_position.xml
index 9c085442..101a26d0 100644
--- a/pal_talos/scene_position.xml
+++ b/pal_talos/scene_position.xml
@@ -16,7 +16,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
+    <geom name="floor" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
     <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
   </worldbody>
 </mujoco>
diff --git a/pal_talos/scene_velocity.xml b/pal_talos/scene_velocity.xml
index 3c3b55fb..8cfca1f2 100644
--- a/pal_talos/scene_velocity.xml
+++ b/pal_talos/scene_velocity.xml
@@ -16,7 +16,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
+    <geom name="floor" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
     <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
   </worldbody>
 </mujoco>
diff --git a/pal_talos/talos_position.xml b/pal_talos/talos_position.xml
index ec78bad1..816b9689 100644
--- a/pal_talos/talos_position.xml
+++ b/pal_talos/talos_position.xml
@@ -8,38 +8,70 @@
   </default>
 
   <actuator>
-    <position class="position" name="torso_1_joint_position" joint="torso_1_joint" kp="2000" ctrlrange="-1.2566370614359172 1.2566370614359172" forcerange="-200.0 200.0"/>
-    <position class="position" name="torso_2_joint_position" joint="torso_2_joint" kp="500" ctrlrange="-0.22689280275926285 0.7330382858376184" forcerange="-200.0 200.0"/>
-    <position class="position" name="head_1_joint_position" joint="head_1_joint" kp="200" ctrlrange="-0.20943951023931956 0.7853981633974483" forcerange="-8.0 8.0"/>
-    <position class="position" name="head_2_joint_position" joint="head_2_joint" kp="1000" ctrlrange="-1.3089969389957472 1.3089969389957472" forcerange="-4.0 4.0"/>
-    <position class="position" name="arm_left_1_joint_position" joint="arm_left_1_joint" kp="100" ctrlrange="-1.5707963267948966 0.7853981633974483" forcerange="-100.0 100.0"/>
-    <position class="position" name="arm_left_2_joint_position" joint="arm_left_2_joint" kp="100" ctrlrange="0.008726646259971648 2.871066619530672" forcerange="-100.0 100.0"/>
-    <position class="position" name="arm_left_3_joint_position" joint="arm_left_3_joint" kp="100" ctrlrange="-2.426007660272118 2.426007660272118" forcerange="-70.0 70.0"/>
-    <position class="position" name="arm_left_4_joint_position" joint="arm_left_4_joint" kp="100" ctrlrange="-2.234021442552742 -0.003490658503988659" forcerange="-70.0 70.0"/>
-    <position class="position" name="arm_left_5_joint_position" joint="arm_left_5_joint" kp="100" ctrlrange="-2.5132741228718345 2.5132741228718345" forcerange="-20.0 20.0"/>
-    <position class="position" name="arm_left_6_joint_position" joint="arm_left_6_joint" kp="100" ctrlrange="-1.3700834628155487 1.3700834628155487" forcerange="-8.0 8.0"/>
-    <position class="position" name="arm_left_7_joint_position" joint="arm_left_7_joint" kp="100" ctrlrange="-0.6806784082777885 0.6806784082777885" forcerange="-8.0 8.0"/>
-    <position class="position" name="gripper_left_joint_position" joint="gripper_left_joint" kp="1000" ctrlrange="-0.9599310885968813 0.0" forcerange="-10.0 10.0"/>
-    <position class="position" name="arm_right_1_joint_position" joint="arm_right_1_joint" kp="100" ctrlrange="-0.7853981633974483 1.5707963267948966" forcerange="-100.0 100.0"/>
-    <position class="position" name="arm_right_2_joint_position" joint="arm_right_2_joint" kp="100" ctrlrange="-2.871066619530672 -0.008726646259971648" forcerange="-100.0 100.0"/>
-    <position class="position" name="arm_right_3_joint_position" joint="arm_right_3_joint" kp="100" ctrlrange="-2.426007660272118 2.426007660272118" forcerange="-70.0 70.0"/>
-    <position class="position" name="arm_right_4_joint_position" joint="arm_right_4_joint" kp="100" ctrlrange="-2.234021442552742 -0.003490658503988659" forcerange="-70.0 70.0"/>
-    <position class="position" name="arm_right_5_joint_position" joint="arm_right_5_joint" kp="100" ctrlrange="-2.5132741228718345 2.5132741228718345" forcerange="-20.0 20.0"/>
-    <position class="position" name="arm_right_6_joint_position" joint="arm_right_6_joint" kp="100" ctrlrange="-1.3700834628155487 1.3700834628155487" forcerange="-8.0 8.0"/>
-    <position class="position" name="arm_right_7_joint_position" joint="arm_right_7_joint" kp="100" ctrlrange="-0.6806784082777885 0.6806784082777885" forcerange="-8.0 8.0"/>
-    <position class="position" name="gripper_right_joint_position" joint="gripper_right_joint" kp="1000" ctrlrange="-0.9599310885968813 0.0" forcerange="-10.0 10.0"/>
-    <position class="position" name="leg_left_1_joint_position" joint="leg_left_1_joint" kp="1000" ctrlrange="-0.3490658503988659 1.5707963267948966" forcerange="-100 100"/>
-    <position class="position" name="leg_left_2_joint_position" joint="leg_left_2_joint" kp="1000" ctrlrange="-0.5236 0.5236" forcerange="-160 160"/>
-    <position class="position" name="leg_left_3_joint_position" joint="leg_left_3_joint" kp="1000" ctrlrange="-2.095 0.7" forcerange="-160 160"/>
-    <position class="position" name="leg_left_4_joint_position" joint="leg_left_4_joint" kp="1000" ctrlrange="0 2.618" forcerange="-400 400"/>
-    <position class="position" name="leg_left_5_joint_position" joint="leg_left_5_joint" kp="10000" ctrlrange="-1.27 0.68" forcerange="-160 160"/>
-    <position class="position" name="leg_left_6_joint_position" joint="leg_left_6_joint" kp="10000" ctrlrange="-0.5236 0.5236" forcerange="-100 100"/>
-    <position class="position" name="leg_right_1_joint_position" joint="leg_right_1_joint" kp="1000" ctrlrange="-1.5707963267948966 0.3490658503988659" forcerange="-100 100"/>
-    <position class="position" name="leg_right_2_joint_position" joint="leg_right_2_joint" kp="1000" ctrlrange="-0.5236 0.5236" forcerange="-160 160"/>
-    <position class="position" name="leg_right_3_joint_position" joint="leg_right_3_joint" kp="1000" ctrlrange="-2.095 0.7" forcerange="-160 160"/>
-    <position class="position" name="leg_right_4_joint_position" joint="leg_right_4_joint" kp="1000" ctrlrange="0 2.618" forcerange="-400 400"/>
-    <position class="position" name="leg_right_5_joint_position" joint="leg_right_5_joint" kp="10000" ctrlrange="-1.27 0.68" forcerange="-160 160"/>
-    <position class="position" name="leg_right_6_joint_position" joint="leg_right_6_joint" kp="10000" ctrlrange="-0.5236 0.5236" forcerange="-100 100"/>
+    <position class="position" name="torso_1_joint_position" joint="torso_1_joint" kp="2000"
+      ctrlrange="-1.2566370614359172 1.2566370614359172" forcerange="-200.0 200.0"/>
+    <position class="position" name="torso_2_joint_position" joint="torso_2_joint" kp="500"
+      ctrlrange="-0.22689280275926285 0.7330382858376184" forcerange="-200.0 200.0"/>
+    <position class="position" name="head_1_joint_position" joint="head_1_joint" kp="200"
+      ctrlrange="-0.20943951023931956 0.7853981633974483" forcerange="-8.0 8.0"/>
+    <position class="position" name="head_2_joint_position" joint="head_2_joint" kp="1000"
+      ctrlrange="-1.3089969389957472 1.3089969389957472" forcerange="-4.0 4.0"/>
+    <position class="position" name="arm_left_1_joint_position" joint="arm_left_1_joint" kp="100"
+      ctrlrange="-1.5707963267948966 0.7853981633974483" forcerange="-100.0 100.0"/>
+    <position class="position" name="arm_left_2_joint_position" joint="arm_left_2_joint" kp="100"
+      ctrlrange="0.008726646259971648 2.871066619530672" forcerange="-100.0 100.0"/>
+    <position class="position" name="arm_left_3_joint_position" joint="arm_left_3_joint" kp="100"
+      ctrlrange="-2.426007660272118 2.426007660272118" forcerange="-70.0 70.0"/>
+    <position class="position" name="arm_left_4_joint_position" joint="arm_left_4_joint" kp="100"
+      ctrlrange="-2.234021442552742 -0.003490658503988659" forcerange="-70.0 70.0"/>
+    <position class="position" name="arm_left_5_joint_position" joint="arm_left_5_joint" kp="100"
+      ctrlrange="-2.5132741228718345 2.5132741228718345" forcerange="-20.0 20.0"/>
+    <position class="position" name="arm_left_6_joint_position" joint="arm_left_6_joint" kp="100"
+      ctrlrange="-1.3700834628155487 1.3700834628155487" forcerange="-8.0 8.0"/>
+    <position class="position" name="arm_left_7_joint_position" joint="arm_left_7_joint" kp="100"
+      ctrlrange="-0.6806784082777885 0.6806784082777885" forcerange="-8.0 8.0"/>
+    <position class="position" name="gripper_left_joint_position" joint="gripper_left_joint" kp="1000"
+      ctrlrange="-0.9599310885968813 0.0" forcerange="-10.0 10.0"/>
+    <position class="position" name="arm_right_1_joint_position" joint="arm_right_1_joint" kp="100"
+      ctrlrange="-0.7853981633974483 1.5707963267948966" forcerange="-100.0 100.0"/>
+    <position class="position" name="arm_right_2_joint_position" joint="arm_right_2_joint" kp="100"
+      ctrlrange="-2.871066619530672 -0.008726646259971648" forcerange="-100.0 100.0"/>
+    <position class="position" name="arm_right_3_joint_position" joint="arm_right_3_joint" kp="100"
+      ctrlrange="-2.426007660272118 2.426007660272118" forcerange="-70.0 70.0"/>
+    <position class="position" name="arm_right_4_joint_position" joint="arm_right_4_joint" kp="100"
+      ctrlrange="-2.234021442552742 -0.003490658503988659" forcerange="-70.0 70.0"/>
+    <position class="position" name="arm_right_5_joint_position" joint="arm_right_5_joint" kp="100"
+      ctrlrange="-2.5132741228718345 2.5132741228718345" forcerange="-20.0 20.0"/>
+    <position class="position" name="arm_right_6_joint_position" joint="arm_right_6_joint" kp="100"
+      ctrlrange="-1.3700834628155487 1.3700834628155487" forcerange="-8.0 8.0"/>
+    <position class="position" name="arm_right_7_joint_position" joint="arm_right_7_joint" kp="100"
+      ctrlrange="-0.6806784082777885 0.6806784082777885" forcerange="-8.0 8.0"/>
+    <position class="position" name="gripper_right_joint_position" joint="gripper_right_joint" kp="1000"
+      ctrlrange="-0.9599310885968813 0.0" forcerange="-10.0 10.0"/>
+    <position class="position" name="leg_left_1_joint_position" joint="leg_left_1_joint" kp="1000"
+      ctrlrange="-0.3490658503988659 1.5707963267948966" forcerange="-100 100"/>
+    <position class="position" name="leg_left_2_joint_position" joint="leg_left_2_joint" kp="1000"
+      ctrlrange="-0.5236 0.5236" forcerange="-160 160"/>
+    <position class="position" name="leg_left_3_joint_position" joint="leg_left_3_joint" kp="1000"
+      ctrlrange="-2.095 0.7" forcerange="-160 160"/>
+    <position class="position" name="leg_left_4_joint_position" joint="leg_left_4_joint" kp="1000" ctrlrange="0 2.618"
+      forcerange="-400 400"/>
+    <position class="position" name="leg_left_5_joint_position" joint="leg_left_5_joint" kp="10000"
+      ctrlrange="-1.27 0.68" forcerange="-160 160"/>
+    <position class="position" name="leg_left_6_joint_position" joint="leg_left_6_joint" kp="10000"
+      ctrlrange="-0.5236 0.5236" forcerange="-100 100"/>
+    <position class="position" name="leg_right_1_joint_position" joint="leg_right_1_joint" kp="1000"
+      ctrlrange="-1.5707963267948966 0.3490658503988659" forcerange="-100 100"/>
+    <position class="position" name="leg_right_2_joint_position" joint="leg_right_2_joint" kp="1000"
+      ctrlrange="-0.5236 0.5236" forcerange="-160 160"/>
+    <position class="position" name="leg_right_3_joint_position" joint="leg_right_3_joint" kp="1000"
+      ctrlrange="-2.095 0.7" forcerange="-160 160"/>
+    <position class="position" name="leg_right_4_joint_position" joint="leg_right_4_joint" kp="1000" ctrlrange="0 2.618"
+      forcerange="-400 400"/>
+    <position class="position" name="leg_right_5_joint_position" joint="leg_right_5_joint" kp="10000"
+      ctrlrange="-1.27 0.68" forcerange="-160 160"/>
+    <position class="position" name="leg_right_6_joint_position" joint="leg_right_6_joint" kp="10000"
+      ctrlrange="-0.5236 0.5236" forcerange="-100 100"/>
   </actuator>
 
   <keyframe>