Numerical quasi-static torque computation doesn't convergence when we regulariza Cholesky decomposition in contact dynamics
The contact dynamics is solved using Cholesky decomposition as explained in the following PDF, and details of the code can be seen here: https://gepgitlab.laas.fr/loco-3d/crocoddyl/blob/master/src/multibody/actions/contact-fwddyn.cpp#L64.
The quasi-static torques are computed through a numerical optimization using Newton step, details of the algorithm are here: https://gepgitlab.laas.fr/loco-3d/crocoddyl/blob/master/src/core/action-base.cpp#L30
The problem arises when I used a damping factor in the Cholesky decomposition performed by the forward dynamics. In this case, the algorithm for quasi-static torque computation doesn't convergence.
@nmansard and @jcarpent do you have any clue about this issue?