Fix the normal force limit constraint in the CentroidalMPC (#898)

ami-iit · Oct 1, 2024 · da3d948 · da3d948
1 parent 3f19707
commit da3d948
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -14,6 +14,7 @@ All notable changes to this project are documented in this file.
 ### Fixed
 - Bug fix of `JointTorqueControlDevice` device (https://github.com/ami-iit/bipedal-locomotion-framework/pull/890)
 - Bug fix of `prepare_data` method calling in `joints-grid-position-tracking` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/895)
+- Fix the normal force limit constraint in the `CentroidalMPC` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/898)
 
 ## [0.19.0] - 2024-09-06
 ### Added

diff --git a/src/ReducedModelControllers/src/CentroidalMPC.cpp b/src/ReducedModelControllers/src/CentroidalMPC.cpp
@@ -940,7 +940,7 @@ struct CentroidalMPC::Impl
  0 <= casadi::MX::mtimes(casadi::MX::reshape(contact.orientation(Sl(), i),
  3,
  3),
- corner.force(Sl(), i)(2)));
+ corner.force(Sl(), i))(2));
  }
  }
  }