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

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tweak pr2 gripper.
This commit is contained in:
erwin coumans
2016-09-20 12:37:13 -07:00
parent 8d4c99801e
commit 0a628f06cc
10 changed files with 214 additions and 40 deletions
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113
data/jenga/jenga.obj Normal file
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@@ -0,0 +1,113 @@
# jenga.obj
#
o jenga
mtllib jenga.mtl
v -0.5 -0.5 0.5
v 0.5 -0.5 0.5
v 0.5 0.5 0.5
v -0.5 0.5 0.5
v -0.5 -0.5 -0.5
v 0.5 -0.5 -0.5
v 0.5 0.5 -0.5
v -0.5 0.5 -0.5
v -0.5 -0.5 -0.5
v -0.5 0.5 -0.5
v -0.5 0.5 0.5
v -0.5 -0.5 0.5
v 0.5 -0.5 -0.5
v 0.5 0.5 -0.5
v 0.5 0.5 0.5
v 0.5 -0.5 0.5
v -0.5 -0.5 -0.5
v -0.5 -0.5 0.5
v 0.5 -0.5 0.5
v 0.5 -0.5 -0.5
v -0.5 0.5 -0.5
v -0.5 0.5 0.5
v 0.5 0.5 0.5
v 0.5 0.5 -0.5
vt 0 1
vt 0 0.75
vt 0.25 0.75
vt 0.25 1
vt 0.25 0.5
vt 0.25 0.75
vt 0.5 0.75
vt 0.5 0.5
vt 1 0.75
vt 0.75 0.75
vt 0.75 1
vt 1 1
vt 0.25 0.75
vt 0.5 0.75
vt 0.5 1
vt 0.25 1
vt 0 0.5
vt 0 0.75
vt 0.25 0.75
vt 0.25 0.5
vt 0.75 0.75
vt 0.75 1
vt 0.5 1
vt 0.5 0.75
vn 0 0 1
vn 0 0 1
vn 0 0 1
vn 0 0 1
vn 0 0 -1
vn 0 0 -1
vn 0 0 -1
vn 0 0 -1
vn -1 0 0
vn -1 0 0
vn -1 0 0
vn -1 0 0
vn 1 0 0
vn 1 0 0
vn 1 0 0
vn 1 0 0
vn 0 -1 0
vn 0 -1 0
vn 0 -1 0
vn 0 -1 0
vn 0 1 0
vn 0 1 0
vn 0 1 0
vn 0 1 0
g jenga
usemtl jenga
s 1
f 1/1/1 2/2/2 3/3/3
f 1/1/1 3/3/3 4/4/4
s 2
f 7/7/7 6/6/6 5/5/5
f 8/8/8 7/7/7 5/5/5
s 3
f 11/11/11 10/10/10 9/9/9
f 12/12/12 11/11/11 9/9/9
s 4
f 13/13/13 14/14/14 15/15/15
f 13/13/13 15/15/15 16/16/16
s 5
f 19/19/19 18/18/18 17/17/17
f 20/20/20 19/19/19 17/17/17
s 6
f 21/21/21 22/22/22 23/23/23
f 21/21/21 23/23/23 24/24/24