From 6695268fbaa5f987d2c44bf43f988c3749ea3820 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Mon, 20 Mar 2017 09:52:24 -0700
Subject: [PATCH 1/2] Fix the issue with indentation in pr2 setup.

---
 examples/pybullet/vr_kuka_pr2_move.py | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/examples/pybullet/vr_kuka_pr2_move.py b/examples/pybullet/vr_kuka_pr2_move.py
index 22e5730c1..53dbe844d 100644
--- a/examples/pybullet/vr_kuka_pr2_move.py
+++ b/examples/pybullet/vr_kuka_pr2_move.py
@@ -15,14 +15,8 @@ BUTTONS=6
 gripper_max_joint = 0.550569
 while True:
 	events = p.getVREvents()
-
-    for e in (events):
-          if e[CONTROLLER_ID] == 3:  # To make sure we only get the value for one of the remotes
-            p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=500)
-            p.setJointMotorControl2(pr2_gripper, 0, controlMode=p.POSITION_CONTROL,
-                                    targetPosition=gripper_max_joint - e[ANALOG] * gripper_max_joint,
-                                    force=1.0)
-            p.setJointMotorControl2(pr2_gripper, 2, controlMode=p.POSITION_CONTROL,
-                                    targetPosition=gripper_max_joint - e[ANALOG] * gripper_max_joint, 
-                                    force=1.1)
-			
\ No newline at end of file
+	for e in (events):
+		if e[CONTROLLER_ID] == 3:  # To make sure we only get the value for one of the remotes
+			p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=500)
+			p.setJointMotorControl2(pr2_gripper, 0, controlMode=p.POSITION_CONTROL,targetPosition=gripper_max_joint - e[ANALOG] * gripper_max_joint,force=1.0)
+			p.setJointMotorControl2(pr2_gripper, 2, controlMode=p.POSITION_CONTROL,targetPosition=gripper_max_joint - e[ANALOG] * gripper_max_joint,force=1.1)
\ No newline at end of file

From 753f1d3d2f447ba2435edbf677fb1e4e04338d23 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Mon, 20 Mar 2017 10:16:15 -0700
Subject: [PATCH 2/2] Add lateral and spinning friction coefficients to gripper
 sdf model.

---
 data/gripper/wsg50_with_r2d2_gripper.sdf | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/data/gripper/wsg50_with_r2d2_gripper.sdf b/data/gripper/wsg50_with_r2d2_gripper.sdf
index b022faf00..d67959f19 100644
--- a/data/gripper/wsg50_with_r2d2_gripper.sdf
+++ b/data/gripper/wsg50_with_r2d2_gripper.sdf
@@ -215,6 +215,10 @@
     </joint>
     
     <link name='finger_right'>
+      <contact>
+        <lateral_friction>1.0</lateral_friction>
+        <spinning_friction>1.5</spinning_friction>
+      </contact>
       <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
@@ -255,6 +259,10 @@
     </joint>
     
     <link name='finger_left'>
+      <contact>
+        <lateral_friction>1.0</lateral_friction>
+        <spinning_friction>1.5</spinning_friction>
+      </contact>
       <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>