Dynamics of Mechanical Systems

Course materials and tools for Dynamics of Mechanical Systems. Includes a Python library (dms) for symbolic and numerical analysis, along with simulation examples using MuJoCo.

Install

Clone the repository and install with:

pip install -r requirements.txt

Structure

• src/dms/ - Core library: symbolic dynamics (SymPy), curves, mechanisms, and bundled MuJoCo tools and models.
• examples/ - Standalone demos: MuJoCo simulations, joystick control, mechanisms, curves.
• tutorials/ - Step-by-step notebooks covering rotations, curves, MuJoCo, and EKF.

Quick Start

python examples/mujoco/pendulum_trajectory_control.py