{"id":28927025,"url":"https://github.com/gabrielenava/dynasors","last_synced_at":"2026-02-20T01:33:39.276Z","repository":{"id":204117408,"uuid":"157420259","full_name":"gabrielenava/DynaSoRS","owner":"gabrielenava","description":"A small MATLAB/iDynTree based library for rigid body systems kinematics, dynamics, simulation and control.","archived":false,"fork":false,"pushed_at":"2024-12-29T15:32:47.000Z","size":341,"stargazers_count":3,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-10-19T23:31:10.111Z","etag":null,"topics":["control","dynamics","idyntree","kinematics","matlab","simulator","urdf-models"],"latest_commit_sha":null,"homepage":"","language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/gabrielenava.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2018-11-13T17:32:53.000Z","updated_at":"2025-03-19T01:59:15.000Z","dependencies_parsed_at":"2025-10-19T16:36:07.957Z","dependency_job_id":null,"html_url":"https://github.com/gabrielenava/DynaSoRS","commit_stats":null,"previous_names":["gabrielenava/mbs_core","gabrielenava/dynasors"],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/gabrielenava/DynaSoRS","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gabrielenava%2FDynaSoRS","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gabrielenava%2FDynaSoRS/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gabrielenava%2FDynaSoRS/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gabrielenava%2FDynaSoRS/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/gabrielenava","download_url":"https://codeload.github.com/gabrielenava/DynaSoRS/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gabrielenava%2FDynaSoRS/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29638633,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-19T22:32:43.237Z","status":"ssl_error","status_checked_at":"2026-02-19T22:32:38.330Z","response_time":117,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.6:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["control","dynamics","idyntree","kinematics","matlab","simulator","urdf-models"],"created_at":"2025-06-22T12:12:47.764Z","updated_at":"2026-02-20T01:33:39.241Z","avatar_url":"https://github.com/gabrielenava.png","language":"MATLAB","funding_links":[],"categories":[],"sub_categories":[],"readme":"# DynaSoRS\n\n[![CI_DYNASORS](https://github.com/gabrielenava/DynaSoRS/actions/workflows/ci_dynasors.yml/badge.svg)](https://github.com/gabrielenava/DynaSoRS/actions/workflows/ci_dynasors.yml)\n\n**Dynamic SimulatOr of Rigid Systems**\n\nA small collection of MATLAB classes and functions that can be used to simulate rigid body systems kinematics, dynamics, and control.\n\n## Operating system\n\nThe code has been tested on Ubuntu 20.04.3 LTS.\n\n## Dependencies\n\n- [MATLAB](https://it.mathworks.com/products/matlab.html), tested up to `R2022a`.\n\n- DynaSoRS is based on the [iDyntree](https://github.com/robotology/idyntree) library. To install `iDyntree` and its dependencies, refer to the [iDyntree README](https://github.com/robotology/idyntree#installation). When compiling `iDyntree`, it is required to set the option `IDYNTREE_USES_MATLAB` to `ON`. In order to use the [iDyntree bindings](https://github.com/robotology/idyntree/tree/master/bindings/matlab), and the [iDyntree wrappers](https://github.com/robotology/idyntree/tree/master/bindings/matlab/+iDynTreeWrappers) for MATLAB, add to the MATLAB path the `path/where/the/iDyntree/generated/mex/file/is`.\n\n- Some classes depend on [casadi](https://web.casadi.org/) library. Download and install the MATLAB bindings from the [website](https://web.casadi.org/get/).\n\n- **Optional**: some examples depend on `wbc`, a MATLAB library for multi-body systems dynamics, kinematics and control available inside [whole-body-controllers](https://github.com/robotology/whole-body-controllers). To download the library, follow the instructions in the [whole-body-controllers README](https://github.com/robotology/whole-body-controllers/blob/master/README.md#installation-and-usage).\n\n- **Optional**: the example on iRonCub-Mk1_1 depends on `wbc` library and on [ironcub-mk1-software](https://github.com/ami-iit/ironcub-mk1-software).\n\n## Installation and usage\n\n#### On Ubuntu\nProvided that the dependencies are met, `git clone` or download this repository. Then, run the following commands:\n\n```\nmkdir build \u0026 cd build\n```\n```\ncmake .. -DCMAKE_INSTALL_PREFIX=\"/path/to/desired/install/dir\"\nmake install\n```\n\nIn order to use the library, add to the MATLAB path the `path/where/the/installed/dynasors/package/is`. A script called `startupDynasors.m` is generated automatically inside the `build` folder. Run the script once to permanently add the (installed) `+dynasors` package to the MATLAB path.\n\n## Tests\n\nThe main classes of the library are tested in the [tests](tests) folder. This is also a good way to verify if the code has been installed correctly.\n\n## Examples\n\nExamples of usage of the library are given in the [examples](examples) folder:\n\n- [simpleRobot](examples/simpleRobot): dynamics simulation and control of a simple fixed-base serial robot.\n- [iRonCub-Mk1_1](examples/iRonCub-Mk1_1) dynamics simulation and QP control of a floating-base jet-powered humanoid robot.\n\n## Maintainer\n\nGabriele Nava ([@gabrielenava](https://github.com/gabrielenava)).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgabrielenava%2Fdynasors","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgabrielenava%2Fdynasors","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgabrielenava%2Fdynasors/lists"}