  Physics simulators are widely used in robotics fields, from mechanical design
to dynamic simulation, and controller design. This paper presents an
open-source MATLAB/Simulink simulator for rigid-body articulated systems,
including manipulators and floating-base robots. Thanks to MATLAB/Simulink
features like MATLAB system classes and Simulink function blocks, the presented
simulator combines a programmatic and block-based approach, resulting in a
flexible design in the sense that different parts, including its physics
engine, robot-ground interaction model, and state evolution algorithm are
simply accessible and editable. Moreover, through the use of Simulink dynamic
mask blocks, the proposed simulation framework supports robot models
integrating open-chain and closed-chain kinematics with any desired number of
links interacting with the ground. The simulator can also integrate
second-order actuator dynamics. Furthermore, the simulator benefits from a
one-line installation and an easy-to-use Simulink interface.
