From 527f2ca5997475eeceae409a540fa2baadd6d1db Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Fri, 19 Apr 2013 12:00:05 -0700
Subject: [PATCH] attempt to eliminate cordless_drill jitter by adding margin
 to contact LCP (min_depth = 1mm).

---
 coke_can/meshes/coke_can.dae | 2 +-
 coke_can/model-1_3.sdf       | 5 +++--
 cordless_drill/model.sdf     | 1 +
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/coke_can/meshes/coke_can.dae b/coke_can/meshes/coke_can.dae
index 7873174..599a5f2 100644
--- a/coke_can/meshes/coke_can.dae
+++ b/coke_can/meshes/coke_can.dae
@@ -8,7 +8,7 @@
         <up_axis>Y_UP</up_axis>
         <created>Wed Apr 25 01:36:10 2012</created>
         <modified>Wed Apr 25 01:36:10 2012</modified>
-        <unit meter="0.00254" name="inches"/>
+        <unit meter="0.001" name="mm"/>
     </asset>
     <library_images>
         <image id="texture0" name="texture0">
diff --git a/coke_can/model-1_3.sdf b/coke_can/model-1_3.sdf
index 0294c13..8d9d788 100644
--- a/coke_can/model-1_3.sdf
+++ b/coke_can/model-1_3.sdf
@@ -3,6 +3,7 @@
   <model name="coke_can">
     <link name="link">
       <inertial>
+        <pose>0 0 0.05 0 0 0</pose>
         <mass>0.390</mass>
         <inertia>
           <ixx>0.00058</ixx>
@@ -14,7 +15,7 @@
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>0 0 -0.46 0 0 0</pose>
+        <pose>0 0 -0.18 0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://coke_can/meshes/coke_can.dae</uri>
@@ -22,7 +23,7 @@
         </geometry>
       </collision>
       <visual name="visual">
-        <pose>0 0 -0.46 0 0 0</pose>
+        <pose>0 0 -0.18 0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://coke_can/meshes/coke_can.dae</uri>
diff --git a/cordless_drill/model.sdf b/cordless_drill/model.sdf
index fcc6736..f19924f 100644
--- a/cordless_drill/model.sdf
+++ b/cordless_drill/model.sdf
@@ -25,6 +25,7 @@
           <contact>
             <ode>
               <max_vel>0.1</max_vel>
+              <min_depth>0.001</min_depth>
             </ode>
           </contact>
         </surface>