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

ami-iit · Oct 1, 2024 · da3d948 · da3d948
1 parent 3f19707
commit da3d948
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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));
                 }
             }
         }