Pinocchio instatiates state-of-the-art Rigid Body Algotithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. It is first tailored for legged robotics applications, but it can be used in extra contextes. It is built upon Eigen for linear algebra and FCL for collision detections. Pinocchio comes with a Python interface for fast code protyping.
Pinocchio is now at the hearth of various robotics softwares as the Stack-of-Tasks or the Humanoid Path Planner.
Pinocchio can be easily installed on various Linux and Unix distributions. Please refer to the installation procedure.
Pinocchio is comming with a large bunch of tutorials aiming at introducting the basic tools for robotics control. The content of the tutorials are described here and the code source of these tutorials is located here.
The Pinocchio software depends on several packages which have to be available on your machine.
- cmake (version >= 2.6)
- pkg-config
- Boost with components unit_test_framework
- G++/CLANG
- Eigen3 (version >= 3.0.5)
- Boost with components filesystem
- urdfdom (version >= 0.2)
- LUA 5.1
- FCL
- Python 2.7 or 3.0
- Numpy
- EigenPy
- Boost Python
If you want to cite Pinocchio in your papers, please use the following bibtex line:
@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--2018}
}
You need to ask a question? You may either directly post a new issue or use the mailing list pinocchio@laas.fr
The development of Pinocchio is supported by the Gepetto team @LAAS-CNRS.