bioptim
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Bayesian geodesic (for pointing tasks?)
https://www.sciencedirect.com/science/article/pii/S0893608017301089?casa_token=fOagob53wnkAAAAA:4eBKgbzrqzD5MLAC4-6vndPFx1jrbvXYw2boBHN8tE75nqJSjbwBpAfC29CGNU7uqmH8shJZRw Adding this as a built in objective? It would be relevant for IOCP, pointing tasks and hand trajectory I think.
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