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mechmotum / symbrim

A Modular and Extensible Open-Source Framework for Creating Symbolic Bicycle-Rider Models
https://mechmotum.github.io/symbrim/
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Holonomic constraints in HolonomicHandGrips and HolonomicPedals are incompatible with noncontributing forces #133

Closed tjstienstra closed 6 months ago

tjstienstra commented 6 months ago

The holonomic constraints created in brim.brim.hand_grips.HolonomicHandGrips and brim.brim.pedals.HolonomicPedals are not compatible with noncontributing forces within the loop they close. They should already be compatible with the noncontributing forces that InContactTire may add because those affect the entire loop in both cases.