add robotics learning grasp contact example

add wsg50 gripper with modified r2d2 gripper tip
expose a fudge factor to scale inertia, to make grasping more stable
(until we have better grasping contact model/implementation)

examples/ExampleBrowser/ExampleEntries.cpp

@@ -249,6 +249,7 @@ static ExampleEntry gDefaultExamples[]=
 
 	ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
 	ExampleEntry(1,"URDF Compliant Contact","Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),
+    ExampleEntry(1,"Contact for Grasp","Grasp experiment to improve contact model", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_GRASP_CONTACT),
 	
 
 

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -519,6 +519,8 @@ void MyStatusBarError(const char* msg)
 		gui2->textOutput(msg);
 		gui2->forceUpdateScrollBars();
 	}
+    btAssert(0);
+
 }
 
 struct MyMenuItemHander :public Gwen::Event::Handler