MennatallahRihan

Upon changing the fd function as you mentioned above, these are the results we get. Although it's only a free fall in the Y direction, the other degrees of freedom...

Hey Felix, We have a forked version of the current rbdl with the changes required to make the rbdl-luamodel add-on work with the casadi backend. [here](https://github.com/MennatallahRihan/rbdl) we tried it a...

Okay, that part makes sense. I'm adding the code to GitHub and I'll send you an invite if that's okay.