add dry friction in toppra
-from .constraint import ConstraintType, DiscretizationType
+""" Module
+"""
+from .constraint import ConstraintType, DiscretizationType, Constraint
from .joint_acceleration import JointAccelerationConstraint
from .joint_velocity import JointVelocityConstraint, JointVelocityConstraintVarying
from .can_linear_second_order import CanonicalLinearSecondOrderConstraint, canlinear_colloc_to_interpolate
from .canonical_conic import RobustCanonicalLinearConstraint
from .canonical_linear import CanonicalLinearConstraint
+from .joint_torque import JointTorqueConstraint
+
+
