Assert f_v and f_a structures with B1, B2, B3 and B4, B5, B6 matrix for analysis.
Simplify the contact forces of front wheel.
Built generalized inertia forces and Added time counting for some big steps.
Built dynamic and force equations from Fr_c and Fr_star_c; Import parameters, basu inputs for late validation of nonlinear model.
Changed the directory of mannual_kane.py for importing functions in constraint folder.
Validated the nonlinear model with Basu-mandal states input values.
Built steady turning configuration, equilibrium values, and finally producing contact forces on each wheel.