just to be sure

QPInverseProblemSolverMatrices.txt

- Q      = [[   	0.0814361 , 	-0.00827544 , 	 -0.013763  ], 
-[   	-0.00827544 , 	0.0608328 , 	 -0.0389114  ], 
-[   	-0.013763 , 	-0.0389114 , 	 0.0458333  ], 
+ Q      = [[   	0.0858792 , 	-0.0385002 , 	 -0.0356423  ], 
+[   	-0.0385002 , 	0.0766779 , 	 -0.0337197  ], 
+[   	-0.0356423 , 	-0.0337197 , 	 0.0957228  ], 
  ];
 
- c      = [	1.96809 , 	-0.997536 , 	 -0.685727      ];
+ c      = [	-0.674207 , 	-0.93156 , 	 1.25634      ];
 
  A      = [           ];
 
@@ -19,5 +19,5 @@
 
  u      = [	150 , 	150 , 	 150           ];
 
- lambda      = [	-9.97107 , 	49.6683 , 	 54.1344           ];
+ lambda      = [	18.2729 , 	21.9436 , 	 1.4091           ];
 

stiff_module.py

@@ -170,9 +170,9 @@ def MyScene(rootNode, out_flag,step,YM_soft_part,coef_poi,act_flag,data_exp):
         # rootNode.addObject(GoalPrinterCsv(stiff,rootNode))
         # rootNode.addObject(PositionPrinterCsv(stiff,rootNode))
         if act_flag == 0 :
-            rootNode.addObject(CircleTrajectory(RootNode = rootNode, rayon =25, nb_iter = 100))
-            # rootNode.addObject(GoalKeyboardController(goal_pas,rootNode))
-            # rootNode.addObject(GoalShift(rootNode))
+            # rootNode.addObject(CircleTrajectory(RootNode = rootNode, rayon =25, nb_iter = 100))
+            rootNode.addObject(GoalKeyboardController(goal_pas,rootNode))
+            rootNode.addObject(GoalShift(rootNode))
             rootNode.addObject(ArduinoPressure(module = stiff,RootNode = rootNode)) # pour envoyer les pressions calculées par le modèle inverse au robot (hardware)
         elif act_flag == 1 :
             rootNode.addObject(StiffController(pas=pas,module = stiff,RootNode = rootNode))