add missing 'wheel.urdf" and very simple procedural terrain generation (sine wave)

data/terrain.py

@@ -0,0 +1,59 @@
+import math
+
+NUM_VERTS_X = 30
+NUM_VERTS_Y = 30
+totalVerts = NUM_VERTS_X*NUM_VERTS_Y
+totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1)
+offset = -50.0
+TRIANGLE_SIZE = 1.
+waveheight=0.1
+gGroundVertices = [None] * totalVerts*3
+gGroundIndices = [None] * totalTriangles*3
+
+i=0
+
+for i in range (NUM_VERTS_X):		
+	for j in range (NUM_VERTS_Y):
+		gGroundVertices[(i+j*NUM_VERTS_X)*3+0] = (i-NUM_VERTS_X*0.5)*TRIANGLE_SIZE
+		gGroundVertices[(i+j*NUM_VERTS_X)*3+1] = (j-NUM_VERTS_Y*0.5)*TRIANGLE_SIZE
+		gGroundVertices[(i+j*NUM_VERTS_X)*3+2] = waveheight*math.sin(float(i))*math.cos(float(j)+offset)
+		                         
+index=0
+for i in range (NUM_VERTS_X-1):
+	for j in range (NUM_VERTS_Y-1):
+		gGroundIndices[index] = 1+j*NUM_VERTS_X+i
+		index+=1
+		gGroundIndices[index] = 1+j*NUM_VERTS_X+i+1
+		index+=1
+		gGroundIndices[index] = 1+(j+1)*NUM_VERTS_X+i+1
+		index+=1
+		gGroundIndices[index] = 1+j*NUM_VERTS_X+i
+		index+=1
+		gGroundIndices[index] = 1+(j+1)*NUM_VERTS_X+i+1
+		index+=1
+		gGroundIndices[index] = 1+(j+1)*NUM_VERTS_X+i
+		index+=1
+
+#print(gGroundVertices)
+#print(gGroundIndices)
+
+print("o Terrain")
+
+for i in range (totalVerts):
+	print("v "),
+	print(gGroundVertices[i*3+0]),
+	print(" "),
+	print(gGroundVertices[i*3+1]),
+	print(" "),
+	print(gGroundVertices[i*3+2])
+		
+for i in range (totalTriangles):
+	print("f "),
+	print(gGroundIndices[i*3+0]),
+	print(" "),
+	print(gGroundIndices[i*3+1]),
+	print(" "),
+	print(gGroundIndices[i*3+2]),
+	print(" ")
+	
+