Make contact task cost not constraint

earlaud · earlaud · commit 2ee11a9e330f · 2025-07-24T22:55:33.000+02:00
diff --git a/include/simple-mpc/inverse-dynamics.hpp b/include/simple-mpc/inverse-dynamics.hpp
@@ -154,7 +154,7 @@ namespace simple_mpc
         {
           if (!active_tsid_contacts_[i])
           {
-            formulation_.addRigidContact(tsid_contacts[i], settings_.w_contact_force, settings_.w_contact_motion, 0);
+            formulation_.addRigidContact(tsid_contacts[i], settings_.w_contact_force, settings_.w_contact_motion, 1);
           }
           tsid_contacts[i].setForceReference(f_target.segment(i * 3, 3));
           active_tsid_contacts_[i] = true;

Original file line number	Diff line number	Diff line change
`@@ -154,7 +154,7 @@ namespace simple_mpc`
`154`	`154`	`{`
`155`	`155`	`if (!active_tsid_contacts_[i])`
`156`	`156`	`{`
`157`		`- formulation_.addRigidContact(tsid_contacts[i], settings_.w_contact_force, settings_.w_contact_motion, 0);`
	`157`	`+ formulation_.addRigidContact(tsid_contacts[i], settings_.w_contact_force, settings_.w_contact_motion, 1);`
`158`	`158`	`}`
`159`	`159`	`tsid_contacts[i].setForceReference(f_target.segment(i * 3, 3));`
`160`	`160`	`active_tsid_contacts_[i] = true;`