Minor tuning in talos kino example

EtienneAr · EtienneAr · commit 662fb8b5833d · 2025-09-22T19:13:10.000+02:00
diff --git a/examples/talos_kinodynamics.py b/examples/talos_kinodynamics.py
@@ -156,7 +156,7 @@
 kino_ID_settings.kp_contact = 10.
 kino_ID_settings.w_base = 100.
 kino_ID_settings.w_posture = 1.
-kino_ID_settings.w_contact_force = 1.
+kino_ID_settings.w_contact_force = 0.001
 kino_ID_settings.w_contact_motion = 1.
 
 kino_ID = KinodynamicsID(model_handler, dt_simu, kino_ID_settings)
diff --git a/src/inverse-dynamics/kinodynamics.cpp b/src/inverse-dynamics/kinodynamics.cpp
@@ -150,6 +150,7 @@ void KinodynamicsID::setTarget(
         formulation_.addRigidContact(
           *tsid_contacts[foot_nb], settings_.w_contact_force, settings_.w_contact_motion,
           settings_.contact_motion_equality ? 0 : 1);
+        active_tsid_contacts_[foot_nb] = true;
       }
       // Set contact target force
       switch (model_handler_.getFootType(foot_nb))
@@ -170,7 +171,6 @@ void KinodynamicsID::setTarget(
         assert(false);
       }
       }
-      active_tsid_contacts_[foot_nb] = true;
     }
     else
     {

Original file line number	Diff line number	Diff line change
`@@ -150,6 +150,7 @@ void KinodynamicsID::setTarget(`
`150`	`150`	`formulation_.addRigidContact(`
`151`	`151`	`*tsid_contacts[foot_nb], settings_.w_contact_force, settings_.w_contact_motion,`
`152`	`152`	`settings_.contact_motion_equality ? 0 : 1);`
	`153`	`+ active_tsid_contacts_[foot_nb] = true;`
`153`	`154`	`}`
`154`	`155`	`// Set contact target force`
`155`	`156`	`switch (model_handler_.getFootType(foot_nb))`
`@@ -170,7 +171,6 @@ void KinodynamicsID::setTarget(`
`170`	`171`	`assert(false);`
`171`	`172`	`}`
`172`	`173`	`}`
`173`		`- active_tsid_contacts_[foot_nb] = true;`
`174`	`174`	`}`
`175`	`175`	`else`
`176`	`176`	`{`