Pierre Puchaud
Pierre Puchaud
todo: - update to bioptim 3.0 - implement some tests
These are not compatible with our equations of motions.
These are not compatible with our equations of motions.
It looks like you have duplicated the contact constraint. nlp.model.ForwardDynamicsConstraintsDirect(q, qdot, tau).to_mx() is sufficient if you want a contact. ImplicitConstraintFcn.CONTACT_ACCELERATION_EQUALS_ZERO is only useful if you use the nlp.model.ForwardDynamics(...) For the...
Sorry, I haven't got the time to have a look. Before implementing a muscle equilibrium dynamics, I recommend implementing a small example with one muscle and one solid (in translation)...
Can you provide the location of the code where it does not do what's expected and a minimum script example ?
To be resolved for EACHFRAME after #504 is merged.
 EACH FRAME is no more linearly interpolated in COLLOCATION. The doc may have to be updated.
@aceglia did you test it? Is it worth otherwise we close the issue?