From a3aa8ef7f144fa1c300ec6a3003456812827fd7b Mon Sep 17 00:00:00 2001
From: erwin coumans <erwincoumans@google.com>
Date: Mon, 19 Sep 2016 14:31:47 -0700
Subject: [PATCH] tune gripper parameters for VR demo

---
 data/l_finger_collision.stl                   | Bin 0 -> 21334 bytes
 data/pr2_gripper.urdf                         |  38 ++++++++++++------
 .../PhysicsServerCommandProcessor.cpp         |  10 ++---
 .../StandaloneMain/hellovr_opengl_main.cpp    |   8 ++--
 4 files changed, 34 insertions(+), 22 deletions(-)
 create mode 100644 data/l_finger_collision.stl

diff --git a/data/l_finger_collision.stl b/data/l_finger_collision.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b12b2dd9ae6da9a07d8851fd1c4e3475ce8b27a9
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diff --git a/data/pr2_gripper.urdf b/data/pr2_gripper.urdf
index 47f8c8a39..1ec2cf3ff 100644
--- a/data/pr2_gripper.urdf
+++ b/data/pr2_gripper.urdf
@@ -17,7 +17,7 @@
       <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
     </collision>
     <inertial>
-      <mass value="100"/>
+      <mass value="0.5"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
   </link>
@@ -32,7 +32,7 @@
 
   <link name="left_gripper">
     <contact>
-      <lateral_friction value="50.0"/>
+      <lateral_friction value="5.0"/>
       <spinning_friction value="0.1"/>
     </contact>
     <visual>
@@ -41,8 +41,14 @@
         <mesh filename="l_finger.stl"/>
       </geometry>
     </visual>
+     <collision>
+      <geometry>
+        <mesh filename="l_finger_collision.stl" scale=".9 .9 .9"/>
+      </geometry>
+      <origin rpy="0.0 0 0" xyz="0 0 0"/>
+    </collision>
     <inertial>
-      <mass value="0.05"/>
+      <mass value="0.5"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
   </link>
@@ -54,7 +60,7 @@
 
   <link name="left_tip">
     <contact>
-      <lateral_friction value="50.0"/>
+      <lateral_friction value="5.0"/>
       <spinning_friction value="0.1"/>
     </contact>
     <visual>
@@ -65,12 +71,12 @@
     </visual>
     <collision>
       <geometry>
-        <box size=".13 .03 .02"/>
+        <box size=".03 .03 .02"/>
       </geometry>
-      <origin rpy="0.0 0 0" xyz="0.055 0.00495 0"/>
+      <origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
     </collision>
     <inertial>
-      <mass value="0.05"/>
+      <mass value="0.1"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
   </link>
@@ -85,8 +91,8 @@
 
   <link name="right_gripper">
     <contact>
-      <lateral_friction value="50.0"/>
-      <spinning_friction value="0.1"/>
+      <lateral_friction value="5.0"/>
+      <spinning_friction value="0.3"/>
     </contact>
     <visual>
       <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
@@ -94,6 +100,12 @@
         <mesh filename="l_finger.stl"/>
       </geometry>
     </visual>
+     <collision>
+      <geometry>
+        <mesh filename="l_finger_collision.stl" scale=".9 .9 .9"/>
+      </geometry>
+      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
+    </collision>
     <inertial>
       <mass value="0.05"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@@ -107,8 +119,8 @@
 
   <link name="right_tip">
     <contact>
-      <lateral_friction value="50.0"/>
-      <spinning_friction value="0.1"/>
+      <lateral_friction value="5.0"/>
+      <spinning_friction value=".2"/>
     </contact>
     <visual>
       <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
@@ -118,9 +130,9 @@
     </visual>
     <collision>
       <geometry>
-        <box size=".13 .03 .02"/>
+      	<box size=".03 .03 .02"/>
       </geometry>
-      <origin rpy="-3.1415 0 0" xyz="0.055 0.00495 0"/>
+      <origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
     </collision>
     <inertial>
       <mass value="0.05"/>
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 332d737ed..57cb56185 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -557,7 +557,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
 	m_data = new PhysicsServerCommandProcessorInternalData();
 
 	createEmptyDynamicsWorld();
-	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0;
+	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001;
 
 }
 
@@ -596,8 +596,8 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 	m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
 
 
-	m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
-	m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
+	m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
+	m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.04;
 }
 
 void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -2957,7 +2957,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 					btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i ).m_userPtr;
 					if (motor)
 					{
-						motor->setErp(0.1);
+						motor->setErp(0.2);
 						btScalar posTarget = 0.1 + (1 - btMin(0.75,gVRGripperAnalog)*1.5)*SIMD_HALF_PI*0.29;
 						btScalar maxPosTarget = 0.55;
 						
@@ -2972,7 +2972,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 
 						motor->setPositionTarget(posTarget, 1);
 						motor->setVelocityTarget(0, 0.5);
-						btScalar maxImp = 500*m_data->m_physicsDeltaTime;
+						btScalar maxImp = 1*m_data->m_physicsDeltaTime;
 						motor->setMaxAppliedImpulse(maxImp);
 					}
 				}
diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp
index b0fd21d1a..485ee71ca 100644
--- a/examples/StandaloneMain/hellovr_opengl_main.cpp
+++ b/examples/StandaloneMain/hellovr_opengl_main.cpp
@@ -704,10 +704,10 @@ bool CMainApplication::HandleInput()
 								///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
 								//so it can (and likely will) cause crashes
 								//add a special debug drawer that deals with this
-								//	gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
-								//	btIDebugDraw::DBG_DrawConstraintLimits+
-								//	btIDebugDraw::DBG_DrawConstraints
-								//	;
+									//gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
+									//btIDebugDraw::DBG_DrawConstraintLimits+
+									//btIDebugDraw::DBG_DrawConstraints
+									//;
 							}
 
 							sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);