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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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4
examples/pybullet/examples/kuka_with_cube.py
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@@ -50,8 +50,8 @@ trailDuration = 15
logId1 = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2])
logId2 = p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS,"LOG0002.txt",bodyUniqueIdA=2)
for i in xrange(5):
print "Body %d's name is %s." % (i, p.getBodyInfo(i)[1])
for i in range(5):
print ("Body %d's name is %s." % (i, p.getBodyInfo(i)[1]))
while 1:
if (useRealTimeSimulation):