From bd7dd5bcfc5838813ff68073f694062b251172ca Mon Sep 17 00:00:00 2001
From: kngwyu <yuji.kngw.80s.revive@gmail.com>
Date: Sun, 31 May 2020 12:58:33 +0900
Subject: [PATCH] Larger contact parameter

---
 mujoco_maze/assets/point.xml  | 7 +++----
 mujoco_maze/maze_env_utils.py | 2 +-
 2 files changed, 4 insertions(+), 5 deletions(-)
diff --git a/mujoco_maze/assets/point.xml b/mujoco_maze/assets/point.xml
index fe2d2e5..8cd89de 100755
--- a/mujoco_maze/assets/point.xml
+++ b/mujoco_maze/assets/point.xml
@@ -3,8 +3,7 @@
     <option timestep="0.02" integrator="RK4" />
     <default>
         <joint limited="false" armature="0" damping="0" />
-        <geom condim="3" conaffinity="0" margin="0" friction="1.0 0.5 0.5"
-              solimp="0.99 0.999 0.001" rgba="0.8 0.6 0.4 1" density="100" />
+        <geom condim="3" conaffinity="0" margin="0" friction="1.0 0.5 0.5" rgba="0.8 0.6 0.4 1" density="100" />
     </default>
     <asset>
         <texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0 0 0" />
@@ -17,8 +16,8 @@
         <light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" />
         <geom name="floor" material="MatPlane" pos="0 0 0" size="40 40 40" type="plane" conaffinity="1" rgba="0.8 0.9 0.8 1" condim="3" />
         <body name="torso" pos="0 0 0">
-            <geom name="pointbody" type="sphere" size="0.5" pos="0 0 0.5" />
-            <geom name="pointarrow" type="box" size="0.5 0.1 0.1" pos="0.6 0 0.5" />
+            <geom name="pointbody" type="sphere" size="0.5" pos="0 0 0.5" solimp="0.9995 0.9999 0.001" />
+            <geom name="pointarrow" type="box" size="0.5 0.1 0.1" pos="0.6 0 0.5" solimp="0.9995 0.9999 0.001" />
             <joint name="ballx" type="slide" axis="1 0 0" pos="0 0 0" />
             <joint name="bally" type="slide" axis="0 1 0" pos="0 0 0" />
             <joint name="rot" type="hinge" axis="0 0 1" pos="0 0 0" limited="false" />
diff --git a/mujoco_maze/maze_env_utils.py b/mujoco_maze/maze_env_utils.py
index 5f85931..d59b922 100644
--- a/mujoco_maze/maze_env_utils.py
+++ b/mujoco_maze/maze_env_utils.py
@@ -104,7 +104,7 @@ class Collision:
     """
 
     ARROUND = np.array([[-1, 0], [1, 0], [0, -1], [0, 1]])
-    OFFSET = {False: 0.499, True: 0.501}
+    OFFSET = {False: 0.5, True: 0.55}
 
     def __init__(
         self, structure: list, size_scaling: float, torso_x: float, torso_y: float,
