much less damped

dartsim · Mar 27, 2017 · d0f3e82 · d0f3e82
1 parent 69ba6b2
commit d0f3e82
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/data/skel/chain.skel b/data/skel/chain.skel
@@ -11,7 +11,7 @@
                 <gravity>1</gravity>
                 <transformation>0 0 0 0 0 0</transformation>
                 <inertia>
-                    <mass>0.1</mass>
+                    <mass>20.0</mass>
                     <offset>0 0 0</offset>
                 </inertia>
                 <visualization_shape>

diff --git a/examples/rigidChain/Main.cpp b/examples/rigidChain/Main.cpp
@@ -49,8 +49,8 @@ int main(int argc, char* argv[]) {
   Eigen::VectorXd initPose(dof);
   for (int i = 0; i < dof; i++) {
     initPose[i] = dart::math::random(-0.5, 0.5);
-//    myWorld->getSkeleton(0)->getDof(i)->setSpringStiffness(1.);
-    myWorld->getSkeleton(0)->getDof(i)->setSpringStiffness(0.1);
+    myWorld->getSkeleton(0)->getDof(i)->setSpringStiffness(1.);
+//    myWorld->getSkeleton(0)->getDof(i)->setSpringStiffness(0.1);
 //    myWorld->getSkeleton(0)->getDof(i)->setSpringStiffness(0.0);
     myWorld->getSkeleton(0)->getDof(i)->setDampingCoefficient(0.);
   }