This simulation environment allows simulating a space system composed of multiple flexible and rigid bodies connected through revolute joints. It was developed as a part of the Master's thesis "Modeling and simulation of a satellite with non-latching flexible appendages". Part of the results obtained with this simulation environment were published in the Aerospace Science and Technology journal, with the title "Impact of non-latching booms on a nanosatellite attitude control system" (DOI: doi.org/10.1016/j.ast.2021.107298).