diff --git a/cmake b/cmake
index 32015cb2..000a9019 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 32015cb28d977b592227675665d17d11531ef418
+Subproject commit 000a90190d1dca8b028f437095f2fddff0f9839b
diff --git a/src/contacts/contact-6d.cpp b/src/contacts/contact-6d.cpp
index c84ff5e0..65cfed11 100644
--- a/src/contacts/contact-6d.cpp
+++ b/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()