PyDy

" PyDy, short for Python Dynamics, is a both a workflow that utlizes an array of scientific tools written in the Python programming language to study multibody dynamics and a set of software packages that help automate and enhance the workflow. The core of this toolset is the SymPy mechanics package which generates symbolic equations of motion for complex multibody systems and PyDy which extends the SymPy output to the numerical domain for simulation, analyses, and visualization. PyDy builds on the popular scientific Python stack such as NumPy, SciPy, IPython, matplotlib, Cython, and Theano.

If you are familiar with scientific computing and symbolic manipulation with Python you should start with the SymPy vector/mechanics documentation and the PyDy documentation:

• Commands
• Symbolic Vectors [SymPy Docs]
• Symbolic Dynamics [SymPy Docs]
• PyDy Documentation

If you aren’t familiar with scientific computing with Python there are many sources to learn. You can start with the Python programming language itself, with the canonical source being the Python Documentation. The SciPy Lectures are a great intro to scientific computing with Python. Finally, to learn about how to do symbolic manipulation with SymPy, check out the SymPy Documentation, especially the tutorial.

We have a couple of tutorials. The human standing tutorial takes you through an entire workflow for a dynamics and control problem and is a good place to start.

• Beginner’s Tutorial
• Human Balance Tutorial

There are additionally a variety of examples which can be found here:

• Double Pendulum
• Chaos Pendulum
• Symbolic Dynamics Examples
• The PyDy Example Repository
• N Link Pendulum (also in the PyDy example repo)
• A bicycle model

http://www.pydy.org/

https://github.com/pydy/pydy