Pulling code to make nchain into a separate file (removing from the notebook.
Added functions to get Kanes and Lagranges equation.
New notebook for the nchain snake and trying once again to specify the shape space.
Added function to make an equal snake chain with real snake values.
Added function to make the mass and forcing vector callable using lambidfy.
Have animation code exported to nchain.py.
Changed movie code to plot the head locating history.
Added printing function and kanezero to eom dict from make_kane_eom.
Playing around with adding dependent speeds and coordintes. It isn't working so well...
Added a simplifying function (sign and trig simp to nchain).
Trying to use scipy.linalg.lstsq to solve only the group variables, and then fill in the specified (configuration) variables. Something about this seems like it shouldn't work. The movies look a little weird, so I have some cells to examine what the traces look like.
New notebook to try adding a non-holonomic constraint as our shape variable parameter. This way we do not bastardize the mass matrix and forcing vector. Something still does not seem right...this is currently only for the 2-snake.
Old failed attempted, before I understood more about dependent coordinates and speeds.
Added dummy_dict as return arguments to compare the lambidfy function arguments to the dummy symbols.
Playing with IC. Do not believe removing rows from the mass matrix and forcing vector was a good idea...