Bordalba et al. recently published a new method for enforcing kinematic constraints in direct collocation problems. It has two main advantages of the method by Posa et al. that is currently implemented in Moco:

1. It is generalizable to other collocation schemes (e.g., pseudospectral methods).
2. It doesn't not modify the system dynamics at collocation points in order to add variables and project the states trajectory back onto the constraint manifold.