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resibots / inria_wbc

Generic whole-body controller based on quadratic programming
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check zmp distributor z force #114

Open dalinel opened 2 years ago

dalinel commented 2 years ago

zmp distributor stabilization changes the weights of the contact force regularization task

zmp_w: [1, 1, 1, 2, 2, 2]

And put gives a contact force reference to this task

if tsid and inria_wbc are compiled in release I get warnings

[SolverHQuadProgFast.solver-eiquadprog] Inequality contact_rfoot_force_constraint violated: 629.378
-0.00620184
[SolverHQuadProgFast.solver-eiquadprog] Inequality contact_rfoot_force_constraint violated: 618.634
-0.00248331
[SolverHQuadProgFast.solver-eiquadprog] Inequality contact_rfoot_force_constraint violated: 607.247
-0.00127178
[SolverHQuadProgFast.solver-eiquadprog] Inequality contact_rfoot_force_constraint violated: 595.162
-0.00506521

This needs to be checked