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pyomeca · Aug 23, 2024 · 14355c0 · 14355c0
1 parent 803c866
commit 14355c0
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/bioptim/limits/penalty.py b/bioptim/limits/penalty.py
@@ -833,7 +833,11 @@ def minimize_contact_forces_end_of_interval(
             penalty.quadratic = True if penalty.quadratic is None else penalty.quadratic
 
             t_span = controller.t_span.cx
-            cx = horzcat(*([controller.states.cx_start] + controller.states.cx_intermediates_list)) if controller.get_nlp.ode_solver.is_direct_collocation else controller.states.cx_start
+            cx = (
+                horzcat(*([controller.states.cx_start] + controller.states.cx_intermediates_list))
+                if controller.get_nlp.ode_solver.is_direct_collocation
+                else controller.states.cx_start
+            )
             end_of_interval_states = controller.integrate(
                 t_span=t_span,
                 x0=cx,