The blog post can be viewed at the OpenOCL blog and at Medium.

pip install scipy
pip install numpy
pip install sympy
pip install matplotlib

• Matlab symbolic toolbox

• Python
• Symbolic package

Load symbolic package before running the code

pkg load symbolic

First run dpc_lagrange to generate the system dynamics function. The generated function will be created under the name dpc_dynamics_generated.

Then you can run dpc_simulate to simulate and draw the animation.

You can also modify the parameters at the top of the simulation file.

In the subdirectory is a simplified version of the program where the parameters are hardcoded into the system equations. In this way the equations fit on a single page (for the web). This version is presented in the blog post. However, here we can not change the parameters easily in the simulation but have solve the Euler-Lagrange equations again with the modified parameters.

This version can be run using the dpc_simple_simulate script (no code generation for the dynamics required).

You are free to use, modify, copy, distribute the code. Please give a clap on Medium, star on github, or share the article if you like. Created by: https://github.com/jkoendev/