doc(biorbd_holonomic_model)

[Ipuch]

Light PR, only updating docstrings while reading the holonomic biorbd model

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This change is 

[pariterre]

Reviewed 2 of 2 files at r1, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @Ipuch)

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bioptim/models/biorbd/biorbd_model.py line 741 at r1 (raw file):

            all_bioviz.append(bioviz.Viz(biorbd_model.path, **kwargs))
            all_bioviz[-1].load_movement(ocp.nlp[idx_phase].variable_mappings["q"].to_second.map(solution["q"]))

is data useless? If so maybe the for loop should be a for nlp in ocp.nlp: ?

[Ipuch]

Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @pariterre)

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bioptim/models/biorbd/biorbd_model.py line 741 at r1 (raw file):

Previously, pariterre (Pariterre) wrote…

is data useless? If so maybe the for loop should be a for nlp in ocp.nlp: ?

Not useless, see below

   if "q_roots" in solution and "q_joints" in solution:
                # TODO: Fix the mapping for this case

                raise NotImplementedError("Mapping is not implemented for this case")
                q = data
            else:
                q = ocp.nlp[idx_phase].variable_mappings["q"].to_second.map(data)
            all_bioviz[-1].load_movement(q)

[pariterre]

Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Ipuch)

[pariterre]

@EveCharbie
Time Lagrange has changed on this PR as well.. So your code did not change the behavior, something else prior to your PR did (or a change in Casadi, or in Ipopt, or...)