-
Notifications
You must be signed in to change notification settings - Fork 2
Home
Pinocchio is a fast and efficient C++ library to compute Rigid Body dynamics developed at LAAS-CNRS, in the Gepetto Team (http://projects.laas.fr/gepetto). The mathematical formulations rely on the spatial algebra proposed by Featherstone, while we make intense use of meta-programming when needed for fast and efficient computations.
The model can be defined throw URDF, Lua file formats or directly in C++ or Python.
Pinocchio provides a Python binding allowing an efficient way to prototype your algorithms.
Pinocchio can be easily installed on Linux platforms (Ubuntu LTS 12.04, 14.04 and 16.04, Debian, Fedora), on Unix Platforms (BSD) and on Mac OS X. Please refer to https://github.com/stack-of-tasks/pinocchio/wiki/installation for installation procedures.
We have a generic humanoid model initialed proposed by Tokyo University to test our algorithms. See https://github.com/stack-of-tasks/pinocchio/wiki/Performances for more details.
Pinocchio uses Travis to test and validate the modifications. The system is currently validated on 12.04 LTS, 14.04 LTS, 16.04 LTS and Mac OS X 10.8 and later.