[choreonoid-users 00071] Re: Floor is too slipery when it is point-foot contact

[Shin'ichiro Nakaoka]

I came up with another solution. AISTSimulator has a property called "CC
depth", which specifies the depth of penetration between the two objects
contacting with each other. (CC depth means a contact correction depth.)
In general, a subtle penetration is taken to increase the stability of
the contact, and increasing this value might be able to prevent the
soles from slipping on the floor. Although I'm not sure if this works
well for your case, it may be better to test this first because you can
easily increase the CC depth value.

-- 
Shin'ichiro Nakaoka <s.nakaoka ＠ aist.go.jp>