examples

Pinocchio examples in Python

This directory contains minimal examples on how to use Pinocchio with the Python bindings or directly in C++. Some examples require the installation of external packages like 3D viewers. You can install them easily via pip or conda.

Installing meshcat:

pip install meshcat

Installing gepetto-viewer:

conda install gepetto-viewer-corba -c conda-forge

Installing panda3d_viewer:

pip install panda3d_viewer

Installing RViz:

conda install ros-noetic-rviz -c RoboStack

Loading a model

• Loading an embeded Model: python -i overview-simple.py and in C++ g++ overview-simple.cpp -o overview-simple $(pkg-config --cflags --libs pinocchio) && ./overview-simple
• Loading a URDF model: python -i overview-urdf.py and in C++ g++ -g overview-urdf.cpp -o overview-urdf $(pkg-config --cflags --libs pinocchio) && ./overview-urdf
• Using RobotWrapper to encapsulate a URDF model: python -i robot-wrapper-viewer.py

Simulating a model

• Simulating a multiple pendulum: python -i simulation-pendulum.py --with-cart -N=2

Computes analytical derivatives of rigid body dynamics algorithms

• Computing forward kinematics derivatives: python -i kinematics-derivatives.py and in C++ g++ kinematics-derivatives.cpp -o kinematics-derivatives $(pkg-config --cflags --libs pinocchio) && ./kinematics-derivatives
• Computing forward dynamics derivatives: python -i forward-dynamics-derivatives.py and in C++ g++ -I -g forward-dynamics-derivatives.cpp -o forward-dynamics-derivatives $(pkg-config --cflags --libs pinocchio) && ./forward-dynamics-derivatives
• Computing inverse dynamics derivatives: python -i inverse-dynamics-derivatives.py and in C++ g++ inverse-dynamics-derivatives.cpp -o inverse-dynamics-derivatives $(pkg-config --cflags --libs pinocchio) && ./inverse-derivatives

Displaying the models

For the following examples, you should have gepetto-gui or MeshCat installed.

• Loading a robot model using gepetto-gui: python -i gepetto-viewer.py
• Loading a robot model using MeshCat: python -i meshcat-viewer.py
• Loading a model with basic geometries MeshCat: python -i sample-model-viewer.py

Collision checking

Pinocchio encapsulates FCL in it. You can then do collision checking or distance computations with only few lines of code.

• Check collisions using FCL: python -i collisions.py and in C++ g++ collision.cpp -o collision $(pkg-config --cflags --libs pinocchio) && ./collision

Multiprecision arithmetic

Thanks to the full templatization of the project, Pinocchio is able to perform full precision arithmetic (via Boost.Multiprecision for instance).

• Multiprecision example: g++ multiprecision.cpp -o multiprecision $(pkg-config --cflags --libs pinocchio) && ./multiprecision

Adding new examples

If you need a specific example for your applications, to not hesitate to open an issue detailing your specific request.