This is a toy model of a nonholonomic field theory. It consists of an elastic Cosserat rod which rolls without sliding on a horizontal plane. The dynamics has been integrated using a geometric integrator which respects the nonholonomic constraints. The model and the integrator can be found in J. Vankerschaver "A class of nonholonomic kinematic constraints in elasticity" J. Phys. A 40 (2007), 3889-3913.
