Commit 5a6b4528 authored by Andrea Del Prete's avatar Andrea Del Prete
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Fix bug in InverseDynamicsFormulationAccForce: when adding a contact, the...

Fix bug in InverseDynamicsFormulationAccForce: when adding a contact, the number of equality constraints was incremented even if the motion constraints were relaxed to the cost function.
parent 3dd022b9
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