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add nicer meshes to kuka_with_gripper.sdf and add kuka_with_gripper2.sdf that can rotate without messing up IK

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fix tray/tray_textured4.obj and tray/tray.urdf
fix kuka_with_cube.py
allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter
bump up pybullet to 1.1.7
This commit is contained in:
erwincoumans
2017-06-14 19:34:33 -07:00
parent cc34ebab25
commit d2888f0884
10 changed files with 1004 additions and 57 deletions
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2
data/tray/tray_textured4.mtl
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@@ -10,4 +10,4 @@ Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
#map_Kd tray.jpg
map_Kd tray.jpg

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data/tray/tray_textured4.obj
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@@ -1,6 +1,6 @@
# Blender v2.77 (sub 0) OBJ File: ''
# www.blender.org
mtllib tray_textured5.mtl
mtllib tray_textured4.mtl
o edge_2_Cube
v 0.593683 0.625721 0.255175
v 0.406317 0.459389 0.004580