Using constraints in custom action models (Python) about crocoddyl HOT 4 CLOSED

import numpy as np
import crocoddyl


class DifferentialActionModelLQR(crocoddyl.DifferentialActionModelAbstract):
    def __init__(self):
        nx = 4
        nu = 2
        nr = 1
        ng = 4
        nh = 0
        
        state = crocoddyl.StateVector(nx)
        crocoddyl.DifferentialActionModelAbstract.__init__(self, state, nu, nr, ng, nh)

        self.g_lb = np.array([-np.inf] * ng)
        self.g_ub = np.array([10.0] * ng)

    def calc(self, data, x, u=None):
        pass

    def calcDiff(self, data, x, u=None):
        pass

lqr_diff = DifferentialActionModelLQR()
print("Differential model g_ub = ", lqr_diff.g_ub)
dt = 0.01
lqr = crocoddyl.IntegratedActionModelEuler(lqr_diff, dt)
print("Integrated model g_ub = ", lqr.g_ub)