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.

The code has been tested on Ubuntu 20.04.3 LTS.

• MATLAB, tested up to R2022a.

• DynaSoRS is based on the iDyntree library. To install iDyntree and its dependencies, refer to the iDyntree README. When compiling iDyntree, it is required to set the option IDYNTREE_USES_MATLAB to ON. In order to use the iDyntree bindings, and the iDyntree wrappers for MATLAB, add to the MATLAB path the path/where/the/iDyntree/generated/mex/file/is.

• Some classes depend on casadi library. Download and install the MATLAB bindings from the website.

• Optional: some examples depend on wbc, a MATLAB library for multi-body systems dynamics, kinematics and control available inside whole-body-controllers. To download the library, follow the instructions in the whole-body-controllers README.

• Optional: the example on iRonCub-Mk1_1 depends on wbc library and on ironcub-mk1-software.

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.

The main classes of the library are tested in the tests folder. This is also a good way to verify if the code has been installed correctly.

Examples of usage of the library are given in the examples folder:

• simpleRobot: dynamics simulation and control of a simple fixed-base serial robot.
• iRonCub-Mk1_1 dynamics simulation and QP control of a floating-base jet-powered humanoid robot.

Gabriele Nava (@gabrielenava).