| <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> --> | |