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pyomeca · Apr 1, 2024 · 29083ab · 29083ab
1 parent 9f89909
commit 29083ab
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/bioptim/limits/penalty_option.py b/bioptim/limits/penalty_option.py
@@ -1002,4 +1002,5 @@ def get_penalty_controller(self, ocp, nlp) -> PenaltyController:
         if nlp.A is not None and (not isinstance(nlp.A, list) or nlp.A != []):
             a = [nlp.A[idx] for idx in t_idx]
             a_scaled = [nlp.A_scaled[idx] for idx in t_idx]
-        return PenaltyController(ocp, nlp, t_idx, x, u, x_scaled, u_scaled, nlp.parameters.cx, a, a_scaled)
+        d = [nlp.dynamics_constants for idx in t_idx]
+        return PenaltyController(ocp, nlp, t_idx, x, u, x_scaled, u_scaled, nlp.parameters.cx, a, a_scaled, d)