Prevent Visual geoms from colliding with other geoms

[azeey]

🦟 Bug fix

Summary

Currently, even though we set group numbers on collision and visual geoms to display only the visuals, they still take part in the collision detection process and collide with any other geom. Setting the contype and conaffinity to 0 will ensure that they don't collide with any other geom.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[codecov]

Codecov Report

Merging #75 (a736caa) into main (481ead3) will increase coverage by 0.00%.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main      #75   +/-   ##
=======================================
  Coverage   97.33%   97.33%           
=======================================
  Files          19       19           
  Lines         862      864    +2     
=======================================
+ Hits          839      841    +2     
  Misses         23       23           

Impacted Files	Coverage Δ
...at_to_mjcf/sdformat_to_mjcf/converters/geometry.py	92.30% <100.00%> (+0.24%)	⬆️

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