Package: pin3-slam
Pinocchioinstantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms.
Besides,Pinocchioprovides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.Pinocchiois 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.Pinocchiocomes with a Python interface for fast code prototyping,directly accessiblethroughConda.Pinocchiois now at the heart of various robotics softwares asCrocoddyl, an open-source and efficient Differential Dynamic Programming solver for robotics, theStack-of-Tasks, an open-source and versatile hierarchical controller framework or theHumanoid Path Planner, an open-source software for Motion and Manipulation Planning.If you want to learn more onPinocchiointernal behaviors and main features, we invite you to read the relatedpaper.If you want to directly dive intoPinocchio, only one single line is sufficient (assuming you have Conda):conda install pinocchio -c conda-forgeor via pip (currently only available on Linux):pip install pinIntroducing Pinocchio 3Pinocchio3is released for development under the branchpinocchio3-previewon the main github repository.
WithPinocchio3, multiple new features are introduced inPinocchio, such as:Sparse Solution of Constrained Dynamics (Published in Robotics: Science and Systems 2021)Constrained Dynamics Derivatives (In pre-publishing stages)Constraint Models for handling loop constraints.Full casadi support in python and C++Increased support of CppAD and CppADCodeGenNew SDF parser.and much more...Pinocchiodevelopers are highly encouraged to check out the new features. However, please keep in mind that this remains adevelopmentbranch, and thus the API between 2.9.x and 2.9.{x+1} could change without backward compatibility.The new constrained dynamics algorithm can be cited by the following publication:@inproceedings{carpentier:hal-03271811,TITLE={{Proximal and Sparse Resolution of Constrained Dynamic Equations}},AUTHOR={Carpentier, Justin and Budhiraja, Rohan and Mansard, Nicolas},URL={https://hal.inria.fr/hal-03271811},BOOKTITLE={{Robotics: Science and Systems 2021}},ADDRESS={Austin / Virtual, United States},YEAR={2021},MONTH=Jul,PDF={https://hal.inria.fr/hal-03271811/file/rss-proximal-and-sparse.pdf},HAL_ID={hal-03271811},HAL_VERSION={v1},}Pinocchio main featuresPinocchiois fast:C++ template library,cache friendly,automatic code generation support viaCppADCodeGen.Pinocchiois 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,support of multiple precision arithmetic via Boost.Multiprecision or any similar framework,computations of kinematic and dynamic regressors for system identification and more,and much more with the support of modern and open source Automatic Differentiation frameworks likeCppADorCasADi.Pinocchiois flexible:header only,C++ 98/03/11/14/17/20 compliant.Pinocchiois extensible.Pinocchiois multi-thread friendly.Pinocchiois reliable and extensively tested (unit-tests, simulations and real world robotics applications).Pinocchiois supported and tested on Windows, Mac OS X, Unix and Linux (see build status here).PerformancesPinocchioexploits at best the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms,Pinocchiois 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.For other benchmarks, and mainly the capacity of Pinocchio to exploit at best your CPU capacities using advanced code generation techniques, we refer to the technicalpaper.
In addition, the introspection doneheremay also help you to understand and compare the performances of the modern rigid body dynamics librairies.Ongoing developmentsIf you want to follow the current developments, you can directly refer to thedevel branch.
Themaster branchonly contains latest release. Any new Pull Request should then be submitted on thedevel branch.InstallationPinocchiocan be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Please refer to theinstallation procedure.If you only need the Python bindings of Pinocchio, you may prefer to install it throughConda. Please follow the procedure describedhere.Pinocchiois also deployed on ROS, you may follow its deployment status onMelodicorKinetic.DocumentationThe onlinePinocchiodocumentation of the last release is availablehere.ExamplesWe provide some basic examples on how to usePinocchioin Python in theexamples/pythondirectory.
Additional examples introducingPinocchioare also available in thedocumentation.TutorialsPinocchiocomes with a large bunch of tutorials aiming at introducing the basic tools for robot control.
The content of the tutorials is describedhere.
Additionnal materials were presented during theMemmosummer school and availablehere.VisualizationPinocchioprovides support for many open-source and free visualizers:Gepetto Viewer: a C++ viewer based onOpenSceneGraphwith Python bindings and Blender export. Seeherefor a C++ example on mixingPinocchioandGepetto Viewer.Meshcat: supporting visualization in Python and which can be embeded inside any browser.Panda3d: supporting visualization in Python and which can be embeded inside any browser.RViz: supporting visualization in Python and which can interact with other ROS packages.Many external viewers can also be integrated. See exampleherefor more information.Citing PinocchioTo citePinocchioin 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--2021}}and the following one for the reference to the paper introducingPinocchio:@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 IssuesYou have a question or an issue? You may either directly open anew issueor use the mailing listpinocchio@laas.fr.CreditsThe following people have been involved in the development ofPinocchioand are warmly thanked for their contributions:Justin Carpentier(Inria): main developer and manager of the projectNicolas Mansard(LAAS-CNRS): initial project instructorGuilhem Saurel(LAAS-CNRS): continuous integration and deploymentJoseph Mirabel(LAAS-CNRS): Lie groups supportAntonio El Khoury(Wandercraft): bug fixesGabriele Buondono(LAAS-CNRS): features extension, bug fixes and Python bindingsFlorian Valenza(Astek): core developments and FCL supportWolfgang Merkt(University of Edinburgh): ROS integration and supportRohan Budhiraja(LAAS-CNRS): features extensionLoïc Estève(Inria): Conda integration and supportIgor Kalevatykh(Inria): Panda3d viewer supportMatthieu Vigne(Wandercraft): MeshCat viewer supportRobin Strudel(Inria): features extensionFrançois Keith(CEA): Windows supportAamr El Kazdadi(Inria): multiprecision arithmetic supportNicolas Torres Alberto(Inria): features extensionEtienne Arlaud(Inria): RViz viewer supportIf you have taken part to the development ofPinocchio, feel free to add your name and contribution in this list.AcknowledgmentsThe development ofPinocchiois actively supported by theGepetto team@LAAS-CNRSand theWillow team@INRIA.