# boundary conditions
ocp.bound('pos',(0,0),timestep=0)
ocp.bound('pos',(5,5),timestep=-1)
ocp.bound('vel',(0,0),timestep=0)
ocp.bound('vel',(0,0),timestep=-1)
ocp.bound('mass',(1,1),timestep=0)
ocp.guess("pos",0)
ocp.guess("vel",0)
ocp.guess("mass",1)
ocp.guess("thrust",0)
# lookup states/actions/outputs/params
thrust4 = ocp.lookup('thrust',timestep=4)
thrust4 = ocp('thrust',timestep=4)
# can specify index of collocation point
posvel4_2 = ocp('posvel',timestep=4, degIdx=2)
# add nonlinear constraint
ocp.constrain(thrust4, '<=', posvel4_2**2)
# fix objective and setup solver
obj = sum([ocp('thrust',timestep=k)**2
for k in range(ocp.nk)])
ocp.setObjective(obj)
# ocp.setObjective(ocp.lookup('integral vel*vel',timestep=-1))
callback = rawe.telemetry.startTelemetry(
