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3987bdd333
allow plane collision shape in SDF load the Roboschool stadium.sdf in humanoid_knee_position_control.py
108 lines
2.4 KiB
Plaintext
108 lines
2.4 KiB
Plaintext
<sdf version='1.6'>
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<world name='default'>
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<gravity>0 0 -9.8</gravity>
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<model name='roboschool/models_outdoor/stadium/part0.obj'>
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<static>1</static>
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<pose frame=''>0 0 0 0 0 0</pose>
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<link name='link_d0'>
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<inertial>
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<mass>0</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 1 1 1</ambient>
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<diffuse>1.00000 1.00000 1.000000 1</diffuse>
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<specular>0.1 .1 .1 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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</model>
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<model name='roboschool/models_outdoor/stadium/part1.obj'>
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<static>1</static>
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<pose frame=''>0 0 0 0 0 0</pose>
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<link name='link_d1'>
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<inertial>
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<mass>0</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<collision name='collision_1'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 1 1 1</ambient>
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<diffuse>0.600000 0.400000 0.000000 1</diffuse>
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<specular>.5 .5 .5 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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</model>
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<model name='part2.obj'>
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<static>1</static>
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<pose frame=''>0 0 0 0 0 0</pose>
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<link name='link_d2'>
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<inertial>
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<mass>0</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>0.000000 0.500000 0.000000 1</diffuse>
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<specular>0.4 0.4 0.4 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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