Abstract

We introduce Pinocchio, an open-source software framework that implements rigid body dynamics algorithms and their analytical derivatives. Pinocchio does not only include standard algorithms employed in robotics (e.g. forward and inverse dynamics) but provides additional features essential for the control, the planning and the simulation of robots. In this paper, we describe these features and detail the programming patterns and design which make Pinocchio efficient. We also offer a short tutorial for easy handling of the framework.

Installation

The full installation procedure can be found on the Github Pages of the project: http://stack-of-tasks.github.io/pinocchio/download.html.

Simplest example with compilation command

TODO: load urdf & run rnea

More complex example with C++ & Python

TODO: load model and run loop for an IK with 3D task

About Python wrapings

TODO philosophy and example

How to cite Pinocchio

TODO: ref

Presentation of the content of the documentation