Question #690051 on Yade changed:
https://answers.launchpad.net/yade/+question/690051
Status: Open => Answered
Anton Gladky proposed the following answer:
Please check BicyclePedalEngine [1]
[1] https://yade-
dem.org/doc/yade.wrapper.html?highlight=bicycle#yade.wrapper.BicyclePedalEngine
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