pinocchio  2.4.5
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:
[detail level 123]
 Porting from Pinocchio 1.3.3 to 2.0.0
 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
 Examples
 Loading the model
 Geometry models
 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)
 Mathematical formulation
 Overview
 Rigid Bodies
 Joint dynamics
 Articulated Dynamics
 Dynamics
 Collision volumes
 Going further
 Main algorithm
 CheatSheet: SE(3) operations
 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 flight (aka policy learning)
 Implementation / Technical details
 Overview: what is making Pinocchio efficient
 Handling the sparsity
 Curiously recurring template pattern
 Templatization, autodiff, code gen
 Benchmarks
 Overview of algo with plots
 Description of how to run the benchmarks
 Success Stories
 Todo List
 Cheat sheet
 Deprecated List