pinocchio
control-toolbox
| pinocchio | control-toolbox | |
|---|---|---|
| 9 | 1 | |
| 1,491 | 1,294 | |
| 5.1% | 0.0% | |
| 9.3 | 0.0 | |
| 7 days ago | over 1 year ago | |
| C++ | C++ | |
| GNU General Public License v3.0 or later | BSD 2-clause "Simplified" License |
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pinocchio
- Good examples of C++ source code for math oriented software development?
- How to do position control of an elastic robot arm?
- Which is the best way to work with matrices and linear algebra using c++?
- I want to build a bipedal robot. Are there any open source libraries to handle walking and balancing?
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Help! After adding a chest (incl battery and two servos for the shoulders) my humanoid Kayra the same gait pattern doesn't work anymore. Here's a video contrasting with vs without chest. What are the top five improvements you'd suggest?
Open-loop walking + physics: (e.g. ZMP-based) one thing you can do (that does not imply adding an IMU to Kayra and going for feedback) is include some walking physics into your walking trajectory generation. To give you an idea, I've written a tutorial on doing that in Python a couple of years ago. The libraries in this tutorial are deprecated now, but I'm working on an equivalent stack at github.com/tasts-robots using more durable software like pinocchio. The libs are still WIP but if you are interested in exploring that dev path (i.e. making a ZMP-based trajectory generator for Kayra) I can support you and help adapt them (because I want that SW to be useful for a maximum number of people).
- What type of software is widely used for robotics in industry?
- I have a robot model in URDF (running in pybullet). Are there easy tools to get the forward/inverse kinematics, and especially use that to plug it into a LQR controller?
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What software can I use to play around with articulated robots?
Drake and Pinocchio both use the Python interface to Meshcat as an option for visualizing robots, and they can both do the forward kinematics and have visualizer components that place the visual meshes properly relative to the computed frames, but both of those are full-fledged and complex kinematics and dynamics libraries for contact-rich interaction (and more), so the API calls to get a model set up are doing a lot more than providing a visual model you can feed joint angles to.
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Rigid Body Dynamics Libraries
Pinocchio sounds like exactly what you need: https://github.com/stack-of-tasks/pinocchio
control-toolbox
What are some alternatives?
meshcat - Remotely-controllable 3D viewer, built on top of three.js
libmpc - libmpc++ is a C++ header-only library to solve linear and non-linear MPC
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
idyntree - Multibody Dynamics Library designed for Free Floating Robots
QDriverStation - Cross-platform clone of the FRC Driver Station
rbdl-orb - RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints
teb_local_planner - An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
meshcat-python - WebGL-based 3D visualizer for Python
ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
DART - DART: Dynamic Animation and Robotics Toolkit
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!