MBsysPy ======= MBsysPy is a wrapper of MBsysC libraries. It allows the user to analyze multibody systems without needing to buy Matlab or to learn C programming language. In its basic way of work it allows to get an equivalent computation speed as Matlab. However for advanced user it can be used to wrap an entire C project, getting the speed of C compiled libraries while keeping the ability to use Python tools (matplotlib, scipy.optimize) and to adapt on the fly the parameters of the model without any compilation step or opening MBsysPad. **WARNING: MBsysPy is only compatible with 64 bits!** Requirements ------------ MBsysPy requires a `Python3 `__ (see below for Python2) distribution with `numpy `__ for computation and updated `pip `__ for packages installation. Other packages such as `matplotlib `__ and `scipy `__ are usefull as they allow better vizualization (graphs generation) and analysis tools (optimization, statistical tools…). .. container:: MacOS For MacOS you can install `Anaconda `__, remember to take the **Python 3.X** (64 bits) version. It is a distribution of Python that includes by default all the required packages, and a lot more. Moreover it comes with `Spyder `__ which is a python IDE. .. REMARK: As Python2 has reached its end of life (since january 2020), we do not check the compatibility of MBsysPy with this version. Upgrading pip ~~~~~~~~~~~~~ Installing MBsysPy requires an up-to-date version of pip: ``pip install -U pip``. Refer to the `official pip documentation `__ for details. Installation ------------ The package of MBsysPy is distributed using pip but are hosted on a specific repository. The installation is pretty straightforward: :: pip install --index-url https://www.robotran.eu/dist/ MBsysPy --user The option ``--extra-index-url`` add pip to our repository, while the option ``--user`` is used to install the package in the user folders (avoiding admin access requirements). According to your system configuration this command has to be entered by different way described below. .. WARNING: Depending on your python installation, the aforementioned installation command must be entered in specific *consoles*. Please read the following sections, depending on your configuration, before running the installation command. MBsysPy with Anaconda (Recommended) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Start *Anaconda-prompt*, it should open a terminal. In this terminal write the previous command (``pip install ...``). This will install MBsysPy within your *Anaconda* environment. MBsysPy without Anaconda ~~~~~~~~~~~~~~~~~~~~~~~~ MBsysPy is a classical python package just as numpy or scipy for example. It can be installed within any python environment. Although we advise you to install it within *Anaconda*, you can chose to install it directly on your computer. For this, we advise you to pass by `virtual environments `__ using the python ``venv`` module. Open a system terminal and navigate (using ``cd ...`` command) to: - your MBProject folder to create a **global** virtual environment for all your Robotran projects (advised if all your Robotran projects will use the same version of MBsysPy), - your Robotran specific project folder to create a **specific** virtual environment for each Robotran project (advised if you will need different MBsysPy versions depending on your Robotran project). Create the virtual environment using the command: :: python -m venv ./.venv .. container:: MacOS Activate your newly created virtual environment: :: source .venv/bin/activate Write the previous command installation command (``pip install ...``). According to your system configuration, your terminal may not have access to *pip* command. In that case prepend the previous command with ``python -m`` (it gives: ``python -m pip install...``). If your system haves both ``Python 2`` and ``Python 3`` installed, you may have to prepend with ``python3 -m`` instead of ``python -m``. Remarks and Testing ~~~~~~~~~~~~~~~~~~~ According to your system configuration, you may not have access to the packages installed via *anaconda* (using *anaconda-prompt* and/or *spyder* started from *anaconda*) from python started from the system. If you cannot access the package containing the ``MBsysPy`` module, please check `KnownTroubleshootings <./KnownTroubleshooting.html>`__. After installation, you can check that everything is correct by typing ``import MBsysPy`` in Python. If the ``MBsysPy`` module is not found, please check `KnownTroubleshootings <./KnownTroubleshooting.html>`__. Lot of our class and functions are documented (but not all, work still in progress). You can see the related documentation, after importing MBsysPy, in the field ``__doc__`` of the function or class: :: import MBsysPy print(MBsysPy.MbsData.__doc__) print(MBsysPy.MbsData.__init__.__doc__) print(MBsysPy.MbsData.set_qdriven.__doc__) In spyder you can show the documentation in the *Object inspector* panel (top right) by writing in the Object field, for example: ``MBsysPy.MbsData`` or ``MBsysPy.MbsData.set_qdriven``. Updating MBsysPy ---------------- To update the package follow the same installation procedure than used for installation with the command ``pip install --extra-index-url https://www.robotran.eu/dist/ MBsysPy --user --upgrade`` instead of the previous one. The only difference is the addition of the option ``--upgrade``. Using development version ------------------------- To update the package follow the same installation procedure than used for installation but with the command ``pip install --extra-index-url https://www.robotran.eu/dist/ MBsysPy --user --upgrade --pre`` instead of the previous one. The only difference is the addition of the option ``--pre``. Specific version of MBsysPy --------------------------- To install a specific version of the MBsysPy package, use the same command as to update MBsysPy but specify your version with ==version_number. As example, for the 1.28 version use ``pip install --extra-index-url https://www.robotran.eu/dist/ MBsysPy==1.28 --user --upgrade --pre``.