https://github.com/gabrielenava/dynasors
A small MATLAB/iDynTree based library for rigid body systems kinematics, dynamics, simulation and control.
https://github.com/gabrielenava/dynasors
control dynamics idyntree kinematics matlab simulator urdf-models
Last synced: 4 months ago
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A small MATLAB/iDynTree based library for rigid body systems kinematics, dynamics, simulation and control.
- Host: GitHub
- URL: https://github.com/gabrielenava/dynasors
- Owner: gabrielenava
- License: bsd-3-clause
- Created: 2018-11-13T17:32:53.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2024-12-29T15:32:47.000Z (over 1 year ago)
- Last Synced: 2025-10-19T23:31:10.111Z (8 months ago)
- Topics: control, dynamics, idyntree, kinematics, matlab, simulator, urdf-models
- Language: MATLAB
- Homepage:
- Size: 333 KB
- Stars: 3
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# DynaSoRS
[](https://github.com/gabrielenava/DynaSoRS/actions/workflows/ci_dynasors.yml)
**Dynamic SimulatOr of Rigid Systems**
A small collection of MATLAB classes and functions that can be used to simulate rigid body systems kinematics, dynamics, and control.
## Operating system
The code has been tested on Ubuntu 20.04.3 LTS.
## Dependencies
- [MATLAB](https://it.mathworks.com/products/matlab.html), tested up to `R2022a`.
- 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`.
- Some classes depend on [casadi](https://web.casadi.org/) library. Download and install the MATLAB bindings from the [website](https://web.casadi.org/get/).
- **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).
- **Optional**: the example on iRonCub-Mk1_1 depends on `wbc` library and on [ironcub-mk1-software](https://github.com/ami-iit/ironcub-mk1-software).
## Installation and usage
#### On Ubuntu
Provided that the dependencies are met, `git clone` or download this repository. Then, run the following commands:
```
mkdir build & cd build
```
```
cmake .. -DCMAKE_INSTALL_PREFIX="/path/to/desired/install/dir"
make install
```
In 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.
## Tests
The 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.
## Examples
Examples of usage of the library are given in the [examples](examples) folder:
- [simpleRobot](examples/simpleRobot): dynamics simulation and control of a simple fixed-base serial robot.
- [iRonCub-Mk1_1](examples/iRonCub-Mk1_1) dynamics simulation and QP control of a floating-base jet-powered humanoid robot.
## Maintainer
Gabriele Nava ([@gabrielenava](https://github.com/gabrielenava)).