File size: 624 Bytes
80dc52c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 | <default>
<default class="self_collision_only">
<geom group="3" contype="2" conaffinity="2"/>
</default>
<equality solref="0.002 1" solimp="0.99 0.999 0.0005 0.5 2"/>
</default>
<!-- <contact> -->
<!-- Jaw collision mesh overlaps the bottom head shell by ~2cm because the closed -->
<!-- loop linkage positions it inside the head. Without these excludes the -->
<!-- self-collision sensor reports a constant 2 contacts, giving a -->
<!-- permanent ~-2.0 reward penalty in the standup env. -->
<!-- <exclude body1="jaw" body2="bottom_head_shell"/> -->
<!-- </contact> -->
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