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address PR comment and tune parameters for cloth

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This commit is contained in:
Xuchen Han
2019-12-19 21:51:54 -08:00
parent 4ab0387262
commit 6a8973d2f4
3 changed files with 25 additions and 8 deletions
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12
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -424,12 +424,13 @@ public:
m_robotSim.setGravity(btVector3(0, 0, -10));
m_robotSim.setGravity(btVector3(0, 0, -10));
b3RobotSimulatorLoadDeformableBodyArgs args(1, .01, 0.02);
args.m_springElasticStiffness = 1;
args.m_springDampingStiffness = .001;
args.m_springBendingStiffness = .2;
args.m_frictionCoeff = 2;
b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006);
args.m_springElasticStiffness = .1;
args.m_springDampingStiffness = .0004;
args.m_springBendingStiffness = 1;
args.m_frictionCoeff = 1;
args.m_useSelfCollision = false;
// args.m_useFaceContact = true;
args.m_useBendingSprings = true;
args.m_startPosition.setValue(0, 0, 0);
args.m_startOrientation.setValue(0, 0, 1, 1);
@@ -475,6 +476,7 @@ public:
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
m_robotSim.setNumSimulationSubSteps(8);
}
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)