Add null space task as an option for IK in VR.

2016-09-30 16:47:33 -07:00
parent 65091c309e
commit ebe5d9bb84
2 changed files with 47 additions and 4 deletions
--- a/data/teddy_vhacd.urdf
+++ b/data/teddy_vhacd.urdf
@@ -2,7 +2,7 @@
 <robot name="cube.urdf">
  <link name="baseLink">
    <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value="0.5"/>
      <rolling_friction value="0.0"/>
      <contact_cfm value="0.0"/>
      <contact_erp value="1.0"/>