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[Feature] Task force is not implemented #67

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thomasfla opened this issue Feb 5, 2020 · 2 comments
Closed

[Feature] Task force is not implemented #67

thomasfla opened this issue Feb 5, 2020 · 2 comments

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@thomasfla
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from

tsid/src/tasks/task-contact-force.cpp

Line 1 in 761194b

//
It looks like the task force in not implemented yet.
@andreadelprete, any advise on how to implement it? Or a workaround to set a pure force task for a 3d contact?
@andreadelprete
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You can simply use the methods setForceReference and setRegularizationTaskWeightVector of ContactPoint.

@thomasfla
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Thank you very much @andreadelprete !

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@andreadelprete @thomasfla