From ed890f23e6b26ebaeb20ba52696d438b84c8933f Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sat, 13 Jan 2018 13:47:28 -0800
Subject: [PATCH] add implicit plane_implicit.urdf and use it in
 humanoid_running.py (numpy version)

---
 data/plane_implicit.urdf                    | 35 +++++++++++++++++++++
 examples/pybullet/numpy/humanoid_running.py |  4 +--
 2 files changed, 37 insertions(+), 2 deletions(-)
 create mode 100644 data/plane_implicit.urdf

diff --git a/data/plane_implicit.urdf b/data/plane_implicit.urdf
new file mode 100644
index 000000000..682c40014
--- /dev/null
+++ b/data/plane_implicit.urdf
@@ -0,0 +1,35 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+	<contact>
+      <!--<friction_anchor/>-->
+      <lateral_friction value="1."/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="10000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane100.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!--<origin rpy="0 0 0" xyz="0 0 -5"/>-->
+      <geometry>
+	      <plane normal="0 0 1"/>
+	 			<!--<box size="100 100 10"/>-->
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/numpy/humanoid_running.py b/examples/pybullet/numpy/humanoid_running.py
index 4154faf6b..92b67fa7e 100644
--- a/examples/pybullet/numpy/humanoid_running.py
+++ b/examples/pybullet/numpy/humanoid_running.py
@@ -21,7 +21,7 @@ if (cid<0):
 
 #p.setGravity(1,2,-9.8)
 #p.setDefaultContactERP (0.4)
-#p.setGravity(0,0,-9.8)
+p.setGravity(0,0,-9.8)
 #numSubSteps=4 and fixedTimeStep=1.0/60. is an effective internal fixed step of 1./240
 #recommended to not go below 50 solver iterations
 p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=550, numSubSteps=8)
@@ -29,7 +29,7 @@ p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=550, numS
 #mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
 
 #p.loadSDF("stadium.sdf")
-p.loadURDF("plane.urdf")
+p.loadURDF("plane_implicit.urdf")
 
 objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
 human  = objs[0]