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add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version)

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erwincoumans
2018-01-13 13:47:28 -08:00
parent e961800278
commit ed890f23e6
2 changed files with 37 additions and 2 deletions
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35
data/plane_implicit.urdf Normal file
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@@ -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>