decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm)

tweak pr2 gripper.
2016-09-20 12:37:13 -07:00
parent 8d4c99801e
commit 0a628f06cc
10 changed files with 214 additions and 40 deletions
--- a/data/jenga/jenga.mtl
+++ b/data/jenga/jenga.mtl
@@ -0,0 +1,16 @@
+newmtl jenga
+  Ns 10.0000
+  Ni 1.5000
+  d 1.0000
+  Tr 0.0000
+  Tf 1.0000 1.0000 1.0000 
+  illum 2
+  Ka 0.0000 0.0000 0.0000
+  Kd 0.5880 0.5880 0.5880
+  Ks 0.0000 0.0000 0.0000
+  Ke 0.0000 0.0000 0.0000
+  map_Ka jenga.tga
+  map_Kd jenga.png
+  
+  
+