This package generates the differential algebraic equations (DAEs) of k-pendulums.
Calling pendulum(k) returns the polynomial constraints qs as well as the differential equations ps of a k-pendulum.
See for example:
from k_pendulum import pendulum
>>> pendulum(1)
([x1^2 + y1^2 - 1], [u1, v1, x1*l1, y1*l1 - 1, 0])
or a more general equation
from k_pendulum import general_pendulum
>>> general_pendulum(1)
([x1^2 + y1^2 - 1], [u1, v1, x1*l1, y1*l1 - 1, dl1])