pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives (by stack-of-tasks)
robotics-toolbox-python
Robotics Toolbox for Python (by petercorke)
| pinocchio | robotics-toolbox-python | |
|---|---|---|
| 9 | 8 | |
| 1,491 | 1,874 | |
| 5.1% | - | |
| 9.3 | 5.9 | |
| 7 days ago | about 1 month ago | |
| C++ | Python | |
| GNU General Public License v3.0 or later | MIT License |
The number of mentions indicates the total number of mentions that we've tracked plus the number of user suggested alternatives.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
pinocchio
Posts with mentions or reviews of pinocchio.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2023-06-17.
- 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
robotics-toolbox-python
Posts with mentions or reviews of robotics-toolbox-python.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2022-11-16.
- Simulate 6 axis arm in Python
- Recommendations for open source robotics software?
- rasberry pi pico 6dof robot arm
- Visualization Software for robotics
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Need help with my project :(
Don't know if this works for micro python as is but you can adapt the IK code for your own setup https://github.com/petercorke/robotics-toolbox-python
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Problem with spawning a server on localhost from WSL
Basically, I'd like to run examples from the Robotics Toolbox for Python in WSL. The issue is that they require using Swift, a browser-based robotics simulator, and this is where things don't go too well.
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What are the best programs-frameworks for path planning and kinematic simulation of a custom robotic arm
I’d suggest looking in some of the free robotics frameworks out there, particularly Python and Matlab. These would allow you to fully focus on the cartesian planning problem. https://github.com/petercorke/robotics-toolbox-python is one such framework with minimal learning curve.
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CM6 - Compliant 3D printed robotic arm - first moves!
I am using this toolbox and building software around it : https://github.com/petercorke/robotics-toolbox-python
What are some alternatives?
When comparing pinocchio and robotics-toolbox-python you can also consider the following projects:
meshcat - Remotely-controllable 3D viewer, built on top of three.js
moveit - :robot: The MoveIt motion planning framework
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
Unity-Robotics-Hub - Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.
idyntree - Multibody Dynamics Library designed for Free Floating Robots
mini-cheetah-tmotor-python-can - Python Motor Driver for Mini-Cheetah based Actuators: T-Motor AK80-6/AK80-9 using SocketCAN Interface
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
swift
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
IKBT - A python package to solve robot arm inverse kinematics in symbolic form
meshcat-python - WebGL-based 3D visualizer for Python
Robot-Overlord-App - Simulation and control software for robots
pinocchio vs meshcat
robotics-toolbox-python vs moveit
pinocchio vs Robotics Library (RL)
robotics-toolbox-python vs Unity-Robotics-Hub
pinocchio vs idyntree
robotics-toolbox-python vs mini-cheetah-tmotor-python-can
pinocchio vs rbdl-orb
robotics-toolbox-python vs swift
pinocchio vs control-toolbox
robotics-toolbox-python vs IKBT
pinocchio vs meshcat-python
robotics-toolbox-python vs Robot-Overlord-App