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pyomeca · Oct 30, 2024 · 2f42904 · 2f42904
1 parent d052ac8
commit 2f42904
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/bioptim/dynamics/dynamics_functions.py b/bioptim/dynamics/dynamics_functions.py
@@ -157,9 +157,7 @@ def torque_driven(
         if nlp.ode_solver.defects_type == DefectType.IMPLICIT:
             if not with_contact and fatigue is None:
                 qddot = DynamicsFunctions.get(nlp.states_dot["qddot"], nlp.states_dot.scaled.cx)
-                tau_id = DynamicsFunctions.inverse_dynamics(
-                    nlp, q, qdot, qddot, with_contact, external_forces
-                )
+                tau_id = DynamicsFunctions.inverse_dynamics(nlp, q, qdot, qddot, with_contact, external_forces)
                 defects = nlp.cx(dq.shape[0] + tau_id.shape[0], tau_id.shape[1])
 
                 dq_defects = []