{"id":28181653,"url":"https://github.com/senthurayyappan/uw_dynamics","last_synced_at":"2025-07-23T01:31:43.010Z","repository":{"id":52082015,"uuid":"144296847","full_name":"senthurayyappan/uw_dynamics","owner":"senthurayyappan","description":"A gazebo package to aid simulation of underwater biomimetic robots.","archived":false,"fork":false,"pushed_at":"2023-01-11T01:42:03.000Z","size":785,"stargazers_count":6,"open_issues_count":2,"forks_count":1,"subscribers_count":0,"default_branch":"master","last_synced_at":"2025-07-18T12:57:10.627Z","etag":null,"topics":["gazebo","robotics","robots","ros","underwater-biomimetic-robots","underwater-robotics","uw-dynamics"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/senthurayyappan.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":".github/FUNDING.yml","license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null},"funding":{"github":["imsenthur"]}},"created_at":"2018-08-10T14:33:54.000Z","updated_at":"2024-10-04T04:24:56.000Z","dependencies_parsed_at":"2023-02-08T21:46:15.417Z","dependency_job_id":null,"html_url":"https://github.com/senthurayyappan/uw_dynamics","commit_stats":null,"previous_names":["senthurayyappan/uw_dynamics"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/senthurayyappan/uw_dynamics","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/senthurayyappan%2Fuw_dynamics","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/senthurayyappan%2Fuw_dynamics/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/senthurayyappan%2Fuw_dynamics/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/senthurayyappan%2Fuw_dynamics/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/senthurayyappan","download_url":"https://codeload.github.com/senthurayyappan/uw_dynamics/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/senthurayyappan%2Fuw_dynamics/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":266602682,"owners_count":23954693,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-07-22T02:00:09.085Z","response_time":66,"last_error":null,"robots_txt_status":null,"robots_txt_updated_at":null,"robots_txt_url":"https://github.com/robots.txt","online":true,"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":["gazebo","robotics","robots","ros","underwater-biomimetic-robots","underwater-robotics","uw-dynamics"],"created_at":"2025-05-16T03:13:30.331Z","updated_at":"2025-07-23T01:31:42.984Z","avatar_url":"https://github.com/senthurayyappan.png","language":"C++","funding_links":["https://github.com/sponsors/imsenthur"],"categories":[],"sub_categories":[],"readme":"# uw_dynamics\n## Abstract:\nUnderwater biomimetic robots are biologically inspired robots that involve complex rigid body dynamics and fluid-structure interactions. Simulation of such robots with gazebo has always been a challenging task. Unlike underwater vehicles such as ROVs and AUVs, these robots are propelled by fluid-structure interaction which are relatively hard to simulate compared to thrusters/propellers (as found in ROVs and AUVs). The proposed project aims at developing a gazebo package containing plugins capable of simulating such robots. It can also be extended to simulate biomimetic robots in fluids of various densities and even aerial biomimetic robots.\n\n## Getting Started:\nClone the repository to the home directory,\n```\n$ git clone https://github.com/imsenthur/uw_dynamics.git\n```\n## Build:\n```\n$ cd uw_dynamics/\n$ mkdir build\n$ cd build/\n$ cmake ../\n$ make\n```\n## Add it to your GAZEBO_PLUGIN_PATH:\n```\n$ export GAZEBO_PLUGIN_PATH=~/uw_dyn/build/devel/lib:$GAZEBO_PLUGIN_PATH\n```\n## Implementation:\n```\n\u003cgazebo\u003e\n   \u003cplugin name=\"underwater_dynamics\" filename=\"libuw_dynamics.so\"\u003e\n     \u003cfluid_density\u003e997\u003c/fluid_density\u003e\n     \u003clink_name\u003ebase_link\u003c/link_name\u003e\n     \u003ccom\u003e0 0 0\u003c/com\u003e\n     \u003c!-- will be automatically computed if not specified --\u003e\n     \u003ccdx1\u003e0.1\u003c/cdx1\u003e\n     \u003ccdy1\u003e0.3\u003c/cdy1\u003e\n     \u003ccdx2\u003e0.2\u003c/cdx2\u003e\n     \u003ccdy2\u003e0.1\u003c/cdy2\u003e\n   \u003c/plugin\u003e\n\u003c/gazebo\u003e\n```\n*Add the plugin to your robot's URDF/SDF.*\n![alt text](https://raw.githubusercontent.com/imsenthur/uw_dynamics/master/sim.png)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsenthurayyappan%2Fuw_dynamics","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsenthurayyappan%2Fuw_dynamics","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsenthurayyappan%2Fuw_dynamics/lists"}