• Cleaning up commands. Mostly done
• While testing the “test” part of the app, I’m realizing that my “ratio” calculations have some issues. Before tying to fix them directly, I’m going to try just making a different gripper that has three “sensor spheres” on each finger. Then I can just let my “drag-based” physics to the whole job. Finished. That’s much better
• Quick! What’s wrong with the following code?

	for(int i = 0; i < 3; ++i){
		position[i] += velocityVec[i];
		if(velocityVec[i] > drag*ratio){
			velocityVec[i] -= drag*ratio;
		}else{
			velocityVec[i] = 0;
		}
	}

• Yep, the drag is only being applied for objects moving in a positive direction. This is a problem that has been driving me crazy for days. I thought is was some artifact of the communication between the Phantom control loop (1k hz) and the simulation loop (100 hz). Nope. Simple math mistake. Facepalm.
• Pretty picture for the day. Notice that the grippers now have multiple points of contact:

• I’ve also started to notice how feedback changes the speed that you can perform the task. Haptic and tactor seem pretty close. Open loop is much worse, at least subjectively. Let’s see what the data says.