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

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This commit is contained in:
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>

4
examples/pybullet/numpy/humanoid_running.py
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@ -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]