[ODE] making the floor rigid

[dvir schirman]

Hi

I am using ode In order to create a simulation of a robot.
I have a problem with the contact between my robot and the floor.
My robot penetrates the floor. The floor is at z=0, and during the
simulation the robot reaches z=-2.
How can I make my floor rigid, so the robot doesn't penetrate it?

Thanks,
Dvir
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