Package: pin
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.Pinocchiowas first tailored for robotics applications, but it can be used in other 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 software 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, open-source software for Motion and Manipulation Planning.If you want to learn more aboutPinocchiointernal behaviors and main features, we invite you to read the relatedpaperand the onlinedocumentation.If you want to dive intoPinocchiodirectly, 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 pinTable of contentsPinocchio main featuresDocumentationExamplesTutorialsPerformancesOngoing developmentsVisualizationCiting PinocchioQuestions and IssuesCreditsOpen-source projects relying on PinocchioAcknowledgmentsPinocchio main featuresPinocchiois fast:C++ template library,cache friendly,automatic code generation support is available 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 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).DocumentationThe onlinePinocchiodocumentation of the last release is availablehere. A cheat sheet pdf with the main functions and algorithms can be foundhere.ExamplesWe provide some basic examples of usingPinocchioin Python in theexamplesdirectory.
Additional examples introducingPinocchioare also available in thedocumentation.TutorialsPinocchiocomes with a large bunch of tutorials aiming at introducing the basic tools for robot control.
Tutorial and training documents are listedhere.
You can also consider the interactive Jupyter notebookset of tutorialsdeveloped byNicolas MansardandYann de Mont-Marin.Pinocchio continuous integrationsPinocchiois constantly tested for several platforms and distributions, as reported below:CI on ROSCI on Linux via APTCI on OSX via CondaCI on Windows via CondaCI on Linux via RobotpkgPerformancesPinocchioexploits, at best, the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms,Pinocchiocan 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, theintrospectionmay also help you to understand and compare the performances of the modern rigid body dynamics libraries.Ongoing developmentsIf you want to follow the current developments, you can directly refer to thedevel branch.
Themaster branchonly contains the 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.ROSPinocchiois also deployed on ROS. You may follow its deployment status below. If you're interested in using Pinocchio on systems and/or with packages that integrate with the ROS ecosystem, we recommend the installation of Pinocchio via the binaries distributed via the ROS PPA. Here, you can install Pinocchio usingsudo apt install ros-$ROS_DISTRO-pinocchio. This installs Pinocchio with HPP-FCL support and with Python bindings. You can then depend on Pinocchio in yourpackage.xmlconfig (<depend>pinocchio</depend>) and include it via CMake (find_package(pinocchio REQUIRED)) -- we include support and hooks to discover the package for both ROS1 and ROS2. An example can be foundhere. Please note that we always advise including thepinocchio/fwd.hppheader as the first include to avoid compilation errors from differing Boost-variant sizes.ROS1ROS2MelodicFoxyNoeticGalacticHumbleRollingVisualizationPinocchioprovides 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 embedded inside any browser.Panda3d: supporting visualization in Python and which can be embedded inside any browser.RViz: supporting visualization in Python and which can interact with other ROS packages.Many external viewers can also be integrated. See the exampleherefor more information.Citing PinocchioTo citePinocchioin your academic research, please use the following bibtex entry:@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}}and the following one for the link to the GitHub codebase:@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}}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 IssuesDo you have a question or an issue? You may either directly open anew questionor anew issueor, directly contact us via the mailing listpinocchio@inria.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(Eureka Robotics): Lie groups and hpp-fcl implementationAntonio El Khoury(Wandercraft): bug fixesGabriele Buondono(LAAS-CNRS): features extension, bug fixes, and Python bindingsFlorian Valenza(Astek): core developments and hpp-fcl supportWolfgang Merkt(University of Oxford): 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 supportSarah El Kazdadi(Inria): multi-precision arithmetic supportNicolas Torres Alberto(Inria): features extensionEtienne Arlaud(Inria): RViz viewer supportWilson Jallet(LAAS-CNRS/Inria): extension of Python bindingsFabian Schramm(Inria): core developperShubham Singh(UT Austin): second-order inverse dynamics derivativesStéphane Caron(Inria): core developperJoris Vaillant(Inria): core developer and manager of the projectSebastian Castro(PickNik Robotics): MeshCat viewer features extensionIf you have participated in the development ofPinocchio, please add your name and contribution to this list.Open-source projects relying on PinocchioCrocoddylA software to realize model predictive control for complex robotics platforms.TSIDA software that implements a Task Space Inverse Dynamics QP.HPPA SDK that implements motion planners for humanoids and other robots.JiminyA simulator based on Pinocchio.ocs2A toolbox for Optimal Control for Switched Systems (OCS2)TriFingerSimulationTriFinger Robot Simulation (a Robot to perform RL on manipulation).Casadi_Kin_DynIIT Package for generation of symbolic (SX) expressions of robot kinematics and dynamics.AcknowledgmentsThe development ofPinocchiois actively supported by theGepetto team@LAAS-CNRSand theWillow team@INRIA.