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use "world" to make door static (instead of using mass = 0)

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minor improvements to pybullet
This commit is contained in:
Erwin Coumans
2016-05-03 12:59:21 -07:00
parent 984c880b2c
commit fb65c29033
2 changed files with 105 additions and 36 deletions
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11
data/door.urdf
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@@ -1,10 +1,17 @@
<?xml version="0.0" ?>
<robot name="urdf_door">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="baseLink"/>
<origin xyz="0 0 0"/>
</joint>
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<mass value="1.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>