[RTR] contact force at the end of interval for takeoff - Githubissues

pyomeca / bioptim

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

MIT License

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[RTR] contact force at the end of interval for takeoff #891

Closed EveCharbie closed 3 weeks ago

EveCharbie commented 3 weeks ago

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This change is

EveCharbie commented 3 weeks ago

@Ipuch could you review the logic please? @pariterre could you please review this textually, so that @AnaisFarr can use it quickly?