From d0f3e825daf9fc21ede21a724711e6fb50a75edd Mon Sep 17 00:00:00 2001
From: "M.X. Grey" <greyxmike@gmail.com>
Date: Mon, 27 Mar 2017 14:07:22 -0400
Subject: [PATCH] much less damped

---
 data/skel/chain.skel         | 2 +-
 examples/rigidChain/Main.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/data/skel/chain.skel b/data/skel/chain.skel
index 0e7b65f26257b..6899f0869d028 100644
--- 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
index 39523c2389886..a7c9fde5abe0f 100644
--- 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.);
   }