stack-of-tasks/pinocchio
Pinocchio
Pinocchio is a multi-body dynamics engine and rigid body physics library designed for computing forward and inverse kinematics and dynamics for articulated rigid-body systems. It functions as a robot kinematics solver and model parser, enabling the analysis of complex robotic systems through kinematic and dynamic computations.
The project distinguishes itself with specialized capabilities for constrained dynamics, including the calculation of contact impulses and centroidal momentum. It provides a parallel processing collision detection system for computing minimal distances between rigid body pairs and includes a trajectory generator for balanced humanoid walking patterns.
The library covers a broad surface of robotics modeling, including robot model generation from URDF files, joint Jacobian computation, and system parameter identification using dynamic regressors. It further supports workspace analysis to determine reachable convex hulls and integrates with external visualizers for system state monitoring.
Features
- Multibody Dynamics Simulators - Provides a full engine for calculating forward and inverse dynamics for articulated rigid body systems.
- Inverse Kinematics - Computes forward and inverse kinematics to find joint configurations for target end-effector poses.
- Robotic Model Parsers - Loads articulated body configurations and geometry meshes from standard robot description formats like URDF.
- Rigid Body Physics Engines - Provides a rigid body physics library for calculating contact impulses, centroidal momentum, and constrained dynamics.
- Articulated Body Simulators - Implements the Articulated-Body Algorithm for calculating joint accelerations in multi-body robotic systems.
- Joint Space Inertia Solvers - Provides the Composite Rigid Body Algorithm to efficiently calculate the joint space inertia matrix.
- Multi-Body Dynamics Simulators - Functions as a multi-body dynamics engine for computing forward and inverse kinematics and dynamics.
- Kinematics Simulators - Solves for joint Jacobians, inverse kinematics, and spatial placements within a kinematic tree.
- Direct Kinematics Computation - Calculates the pose and velocity of joints and links based on given positions and velocities.
- Dynamics Solvers - Ships a mathematical solver for calculating forward dynamics and joint accelerations accounting for contact constraints and friction.
- Inverse Dynamics Solving - Calculates the joint torques required to produce a specific desired acceleration of the system.
- Joint Jacobian Computations - Calculates Jacobian matrices for specific joints or frames, including time variations and second-order kinematic Hessians.
- Spatial Vector Algebra - Employs a six-dimensional spatial algebra formulation to simplify rigid body kinematics and dynamics computations.
- Kinematic Tree Traversers - Implements recursive traversal of kinematic chains to update the spatial placements of system frames.
- Inverse Dynamics Algorithms - Provides a recursive Newton-Euler implementation to calculate required joint torques for given accelerations.
- Kinematic Tree Representations - Uses hierarchical data structures to model robots as a directed graph of joints and links.
- Dynamic Parameter Identification - Uses linear regression matrices to identify physical properties and inertial parameters of robot links.
- Mesh and Model Loading - Parses URDF files to extract and load visual and collision mesh data into the model.
- Humanoid Gait Generation - Generates stable walking patterns and manages center of mass trajectories for floating base humanoid systems.
- Robot Modeling - Builds articulated body models by parsing configuration files or using predefined templates.
- Humanoid Models - Creates kinematic chains for floating humanoid robots, including physical geometries and floating joints.
- Manipulator Models - Creates shoulder-elbow-wrist kinematic chains and associated physical geometries for robotic manipulators.
- Collision Detection Systems - Computes collision status and minimal distance between rigid body pairs using parallel processing.
- Center of Mass Computation - Calculates the position, velocity, and acceleration of the total system or specific subtree centers of mass.
- Collision Detection - Calculates minimal distances and intersection status between rigid body pairs.
- Sparse Constraint Solvers - Resolves closed-loop mechanisms and frictional contacts using sparse matrix solvers for joint accelerations.
- URDF Model Parsers - Constructs multi-body dynamics models from XML streams with support for mimic joints and root selection.
- Centroidal Momentum Computation - Implements a utility for calculating the centroidal momentum matrix and total system momenta expressed around the center of mass.
- Dynamic Regressor Computation - Calculates regressors that link joint torques or energy to the dynamic parameters of system links.
- Closed-Loop Constraints - Provides a solver for closed-loop mechanisms and frictional contact using constrained articulated body algorithms.
- Joint Space Inertia Computation - Provides a utility for calculating the joint space inertia matrix using composite rigid body algorithms.
- Kinematic Workspace Analysis - Computes the reachable workspace or its convex hull for a specific frame over a fixed time horizon.
- Sequential Impulse Solvers - Computes joint torques and contact impulses based on target contact point velocities and compliance matrices.
- Physical Parameter Identification - Computes kinematic and dynamic regressors to identify the physical properties of robotic systems.
- Robotic System Identification - Provides utilities for identifying physical properties and parameters of robot links using dynamic regressors based on observed motion.
- Walking Pattern Generators - Generates synchronized patterns for the center of pressure, center of mass, and feet to maintain stability.
- मोशन प्लानिंग और कंट्रोल - Fast implementation of rigid body dynamics algorithms.
- Physics Simulation - Fast algorithms for rigid-body dynamics with analytical derivatives.
- Planning and Control - Fast implementation of rigid body dynamics algorithms.
- Robotics Libraries - Fast implementation of rigid body dynamics and analytical derivatives.
