stjordanis/pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

Pinocchio instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.

Pinocchio is first tailored for robotics applications, but it can be used in extra contexts (biomechanics, computer graphics, vision, etc.). It is built upon Eigen for linear algebra and FCL for collision detection. Pinocchio comes with a Python interface for fast code prototyping, directly accessible through Conda.

Pinocchio is now at the heart of various robotics softwares as Crocoddyl, an open-source and efficient Differential Dynamic Programming solver for robotics, the Stack-of-Tasks, an open-source and versatile hierarchical controller framework or the Humanoid Path Planner, an open-source software for Motion and Manipulation Planning.

If you want to learn more on Pinocchio internal behaviors and main features, we invite you to read the related paper.

Pinocchio features

Pinocchio is fast:

• C++ template library,
• cache friendly,
• automatic code generation support.

Pinocchio is versatile, implementing basic and more advanced rigid body dynamics algorithms:

• forward kinematics and its analytical derivatives,
• forward/inverse dynamics and their analytical derivatives,
• centroidal dynamics and its analytical derivatives,
• and much more with the support of modern Automatic Differentiation frameworks like CppAD or CasADi.

Pinocchio is flexible:

• header only,
• C++ 98/03/11/14/17/20 compliant.

Pinocchio is extensible.
Pinocchio is multi-thread friendly.
Pinocchio is reliable and extensively tested (unit-tests, simulations and real robotics applications).
Pinocchio is supported on Mac OS X and many Linux distributions (see build status here).

Performances

Pinocchio exploits at best the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, Pinocchio is able to unroll most of the computations directly at compile time, allowing to achieve impressive performances for a large range of robots, as illustrated by the plot below, obtained on a standard laptop equipped with an Intel Core i7 CPU @ 2.4 GHz.

Ongoing developments

If you want to follow the current developments, you can directly refer to the devel branch.

Installation

Pinocchio can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Please refer to the installation procedure.

If you only need the Python bindings of Pinocchio, you may prefer to install it through Conda. Please follow the procedure described here.

Pinocchio is also deployed on ROS, you may follow its deployment status on Melodic or Kinetic.

Documentation

The online Pinocchio documentation of the last release is available here.

Examples

We provide some basic examples on how to use Pinocchio in Python in the examples/python directory. Additional examples introducing Pinocchio are also available in the documentation

Tutorials

Pinocchio comes with a large bunch of tutorials aiming at introducing the basic tools for robotics control. The content of the tutorials is described here.

Citing Pinocchio

To cite Pinocchio in your academic research, please use the following bibtex lines:

@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--2019}
}

and the following one for the reference to the paper introducing Pinocchio:

@inproceedings{carpentier2019pinocchio,
   title={The Pinocchio C++ library -- A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives},
   author={Carpentier, Justin and Saurel, Guilhem and Buondonno, Gabriele and Mirabel, Joseph and Lamiraux, Florent and Stasse, Olivier and Mansard, Nicolas},
   booktitle={IEEE International Symposium on System Integrations (SII)},
   year={2019}
}

The algorithms for the analytical derivatives of rigid-body dynamics algorithms are detailed here:

@inproceedings{carpentier2018analytical,
  title = {Analytical Derivatives of Rigid Body Dynamics Algorithms},
  author = {Carpentier, Justin and Mansard, Nicolas},
  booktitle = {Robotics: Science and Systems},
  year = {2018}
}

Questions and Issues

You have a question or an issue? You may either directly open a new issue or use the mailing list [email protected].

Credits

The following people have been involved in the development of Pinocchio and are warmly thanked for their contributions:

• Justin Carpentier (INRIA): main developer and manager of the project
• Nicolas Mansard (LAAS-CNRS): project instructor
• Guilhem Saurel (LAAS-CNRS): continuous integration and deployment
• Joseph Mirabel (LAAS-CNRS): Lie groups support
• Antonio El Khoury (Wandercraft): bug fixes
• Gabriele Buondono (LAAS-CNRS): features extension, bug fixes and Python bindings
• Florian Valenza (Astek): core developments and FCL support
• Wolfgang Merkt (University of Edinburgh): ROS integration and support
• Rohan Budhiraja (LAAS-CNRS): features extension
• Loïc Estève (INRIA): Conda integration and support

If you have taken part to the development of Pinocchio, feel free to add your name and contribution in this list.

Acknowledgments

The development of Pinocchio is actively supported by the Gepetto team @LAAS-CNRS and the Willow team @INRIA.