From b56afb705c2e21045ecc565617091a15f94d2e3d Mon Sep 17 00:00:00 2001
From: Evelyn D'Elia <17877131+evelyd@users.noreply.github.com>
Date: Mon, 23 Dec 2024 22:25:00 +0100
Subject: [PATCH] fix IK test for foot trackers

---
 src/IK/tests/configTestIK.toml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/IK/tests/configTestIK.toml b/src/IK/tests/configTestIK.toml
index c62b808..4a19b59 100644
--- a/src/IK/tests/configTestIK.toml
+++ b/src/IK/tests/configTestIK.toml
@@ -103,8 +103,9 @@ type = "FloorContactTask"
 robot_velocity_variable_name = "robot_velocity"
 frame_name = "link10"
 kp_linear = 1.0
+kp_angular = 1.0
 node_number = 10
-weight = [10.0, 10.0, 10.0]
+weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
 vertical_force_threshold = 60.0
 
 [JOINT_LIMITS_TASK]