PyDy

PyDy (Python Dynamics) is a workflow and suite of Python-based software packages designed for the study of multibody dynamics. It facilitates the generation of symbolic equations of motion using SymPy, and then extends these models into the numerical realm for tasks such as simulation, analysis, and visualization. PyDy is targeted at researchers, engineers, and scientists working in robotics, biomechanics, and physics who need to model and simulate complex mechanical systems.