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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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13
examples/pybullet/gym/kukaGymEnvTest.py
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@@ -1,14 +1,17 @@
from envs.bullet.kukaGymEnv import KukaGymEnv
print ("hello")
import time
environment = KukaGymEnv(renders=True)
motorsIds=[]
for i in range (len(environment._kuka.motorNames)):
motor = environment._kuka.motorNames[i]
motorJointIndex = environment._kuka.motorIndices[i]
motorsIds.append(environment._p.addUserDebugParameter(motor,-3,3,environment._kuka.jointPositions[i]))
motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
while (True):