+ Rotation values are better
+ changed Kp value back to 300 like Pitch
+ Added Contact exclusion rule
+ Fixed Range for body and control
+ Restore proper delta values
+ This feature was missing from the plugin while being necessary for robots to work
+ e.g. SO100 requires the main body and the first arm to have contact exclusion, I guess the piece are too tight in the model?
+ This is not clean, but making it right requires to have a better understanding of how the MuJoCo actor works - problem for future self
