{"id":32158791,"url":"https://github.com/roboticexplorationlab/robotzoo.jl","last_synced_at":"2026-02-22T11:02:25.240Z","repository":{"id":42444372,"uuid":"245729769","full_name":"RoboticExplorationLab/RobotZoo.jl","owner":"RoboticExplorationLab","description":null,"archived":false,"fork":false,"pushed_at":"2024-03-21T18:45:32.000Z","size":2101,"stargazers_count":26,"open_issues_count":6,"forks_count":11,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-10-12T07:08:52.809Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Julia","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/RoboticExplorationLab.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}},"created_at":"2020-03-08T00:54:33.000Z","updated_at":"2024-11-21T23:38:09.000Z","dependencies_parsed_at":"2022-08-28T07:12:44.582Z","dependency_job_id":null,"html_url":"https://github.com/RoboticExplorationLab/RobotZoo.jl","commit_stats":null,"previous_names":[],"tags_count":9,"template":false,"template_full_name":null,"purl":"pkg:github/RoboticExplorationLab/RobotZoo.jl","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RoboticExplorationLab%2FRobotZoo.jl","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RoboticExplorationLab%2FRobotZoo.jl/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RoboticExplorationLab%2FRobotZoo.jl/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RoboticExplorationLab%2FRobotZoo.jl/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RoboticExplorationLab","download_url":"https://codeload.github.com/RoboticExplorationLab/RobotZoo.jl/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RoboticExplorationLab%2FRobotZoo.jl/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29710317,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-22T10:34:24.778Z","status":"ssl_error","status_checked_at":"2026-02-22T10:32:23.200Z","response_time":110,"last_error":"SSL_read: 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":[],"created_at":"2025-10-21T13:01:09.786Z","updated_at":"2026-02-22T11:02:25.231Z","avatar_url":"https://github.com/RoboticExplorationLab.png","language":"Julia","funding_links":[],"categories":[],"sub_categories":[],"readme":"![CI](https://github.com/bjack205/RobotZoo.jl/workflows/CI/badge.svg)\n[![codecov](https://codecov.io/gh/RoboticExplorationLab/RobotZoo.jl/branch/master/graph/badge.svg?token=KWcOu2TFpd)](https://codecov.io/gh/RoboticExplorationLab/RobotZoo.jl)\n\n# RobotZoo.jl\n\nProvides a handful of dynamics models of common robotic platforms, implemented using the \n[`RobotDynamics.jl`](https://github.com/RoboticExplorationLab/RobotDynamics.jl) package. \nThe following models are currently implemented:\n* Acrobot (`Acrobot`)\n* Dubins Car (unicycle model) (`DubinsCar`)\n* Kinematic Bicycle car model (`BicycleModel`)\n* Cartpole (`Cartpole`)\n* Double Integrator (`DoubleIntegrator`)\n* Pendulum (`Pendulum`)\n* Quadrotor (`Quadrotor`)\n* Airplane (`YakPlane`)\n* Satellite (`Satellite`)\n\nMost models can be constructed using their default constructor, e.g. `model = RobotZoo.Cartpole()`.\nTo get more information on each model, refer to the documentation for each type, accessible via the command line:\n```julia\n?RobotZoo.Quadrotor\n```\n\n## Example Usage\n```julia\nusing RobotZoo\nimport RobotDynamics as RD\n\nmodel = RobotZoo.Cartpole()\nn,m = RD.dims(model)\n\n# Generate random state and control vector\nx,u = rand(model)\nt = 0.0   # time (s)\ndt = 0.1  # time step (s)\nz = RD.KnotPoint(x,u,t,dt)\n\n# Evaluate the continuous dynamics and Jacobian\nẋ = dynamics(model, x, u)\n∇f = zeros(n, n + m)\nRD.jacobian!(RD.StaticReturn(), RD.ForwardAD(), model, ∇f, ẋ, model, z)\n\n# Evaluate the discrete dynamics and Jacobian\ndmodel = RD.DiscretizedDynamics{RD.RK4}(model)\nx′ = RD.discrete_dynamics(dmodel, model, x, u, t, dt)\nRD.discrete_jacobian!(RD.StaticReturn(), RD.ForwardAD(), dmodel, ∇f, x′, z)\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Froboticexplorationlab%2Frobotzoo.jl","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Froboticexplorationlab%2Frobotzoo.jl","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Froboticexplorationlab%2Frobotzoo.jl/lists"}