cbonnefont/pinocchio

Efficient Multi-Body Dynamics Algorithms using Spatial Algebra

Pinocchio: a C++ library for efficient Rigid Multi-body Dynamics computations

Pinocchio instatiates state-of-the-art Rigid Body Algotithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. It is first tailored for legged robotics applications, but it can be used in extra contextes. It is built upon Eigen for linear algebra and FCL for collision detections. Pinocchio comes with a Python interface for fast code protyping.

Pinocchio is now at the hearth of various robotics softwares as the Stack-of-Tasks or the Humanoid Path Planner.

Installation

Pinocchio can be easily installed on various Linux and Unix distributions. Please refer to the installation procedure.

Tutorials

Pinocchio is comming with a large bunch of tutorials aiming at introducting the basic tools for robotics control. The content of the tutorials are described here and the code source of these tutorials is located here.

Dependencies

The Pinocchio software depends on several packages which have to be available on your machine.

Build dependencies

• cmake (version >= 2.6)
• pkg-config
• Boost with components unit_test_framework
• G++/CLANG

Core dependencies

• Eigen3 (version >= 3.0.5)
• Boost with components filesystem

Optional dependencies

• urdfdom (version >= 0.2)
• LUA 5.1
• FCL

Python bindings

• Python 2.7 or 3.0
• Numpy
• EigenPy
• Boost Python

Citing Pinocchio

If you want to cite Pinocchio in your papers, please use the following bibtex line:

@misc{pinocchioweb,
      author = {Justin Carpentier and Florian Valenza and Nicolas Mansard and others},
      title = {Pinocchio: fast forward and inverse dynamics for poly-articulated systems},
      howpublished = {https://stack-of-tasks.github.io/pinocchio},
      year = {2015--2018}
     }

Questions

You need to ask a question? You may either directly post a new issue or use the mailing list [email protected]

Acknowledgments

The development of Pinocchio is supported by the Gepetto team @LAAS-CNRS.