pinocchio
2.5.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Related Pages
Here is a list of all related documentation pages:
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Porting from Pinocchio 1.3.3 to 2.0.0
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Main features of Pinocchio
Spatial Algebra module
Model and data
Joints
Loading the model
Dealing with Lie group geometry
Kinematic algorithms
Dynamc algorithms
Operational frames
Geometric models
Analytical derivatives
Automatic differentiation and source code generation
Python bindings
Unit tests
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Examples
Loading the model
Geometry models
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Load and display a model
Display a model using GepettoViewer
Display a model using Meshcat
Display a model using RobotWrapper
Computing the dynamics RNEA, bias forces b(q,v), gravity g(q), CRBA M(q)
Contact dynamics
Collision detection and distances
Derivatives of the dynamics (with finite diff checking)
Code generation
Inverse geometry
Inverse kinematics (clik)
Task space inverse dynamics
QP (normal forces) unilateral contact dynamics (if we can write it concise enough)
Posture generation using derivatives (if we can write it concise enough)
A RRT planner for a robot arm (if we can write it concise enough)
A RL tensorflow example (if we can write it concise enough)
Build reduced model
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Mathematical formulation
Overview
Rigid Bodies
Joint dynamics
Articulated Dynamics
Dynamics
Collision volumes
Going further
Main algorithm
CheatSheet: SE(3) operations
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Practical Exercises
1) Move your body (aka direct geometry)
2) Grasp an object (aka inverse Geometry)
3) Drag and Drop (aka Inverse kinematics)
4) Snap your fingers (aka direct and inverse dynamics)
5) look ahead (aka motion planning)
6) Take a walk (aka optimal control)
7) Learning to fly (aka policy learning)
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Implementation / Technical details
Overview: what is making Pinocchio efficient
Handling the sparsity
Curiously recurring template pattern
Templatization, autodiff, code gen
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Benchmarks
Overview of algo with plots
Description of how to run the benchmarks
Success Stories
Todo List
Cheat sheet
Deprecated List
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1.8.17