Multibody4Everybody

Multibody4Everybody is a symbolic multibody dynamics toolkit built in Python. It supports revolute, prismatic, and floating joints with an emphasis on symbolic equation generation, modular architecture, and flexible visualization.

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📦 Features

• Symbolic computation of positions, velocities, and accelerations
• Construction of reduced-order equations of motion
• Support for revolute, prismatic, and floating joints
• Energy tracking and force visualization
• Modular structure with animation and plotting tools
• Compatible with both pip and conda

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🛠 Installation

To install using either conda or pip, run:

# Clone the repo and enter the directory
git clone https://github.com/Project-SEA-Stack/Python_multibody_dyamics.git
cd Python_multibody_dyamics

CONDA

# Create and activate the Conda environment
conda env create -f multibody_env.yaml
conda activate multibody_env

PIP

# OR install with pip directly
pip install .

🚀 Getting Started

To verify geometry and correct implementation of an example:

python Examples/spiderfloat.py

# or
cd Examples
python spiderfloat.py

To run the full simulation:

# From root folder
python main.py

📚 Documentation

To build the documentation (if using Sphinx) make sure you have all dependencies installed:

pip install Sphinx
pip install sphinx-autodoc-typehints
pip install myst-parser
pip install furo

cd documentation
make html