Fix bug in Contact6d::setRegularizationTaskWeightVector

cmake @ 000a9019

-Subproject commit 32015cb28d977b592227675665d17d11531ef418
+Subproject commit 000a90190d1dca8b028f437095f2fddff0f9839b

src/contacts/contact-6d.cpp

@@ -138,7 +138,7 @@ typedef Eigen::Matrix<double,6,6> Matrix6;
   Matrix6 A = Matrix6::Zero();
   A.diagonal() = m_weightForceRegTask;
   m_forceRegTask.setMatrix(A*m_forceGenMat);
-  m_forceRegTask.setVector(m_fRef);
+  m_forceRegTask.setVector(A*m_fRef);
 }
 
 void Contact6d:: updateForceGeneratorMatrix()