pinocchio
xtensor
| pinocchio | xtensor | |
|---|---|---|
| 9 | 8 | |
| 1,491 | 3,215 | |
| 5.1% | 1.0% | |
| 9.3 | 7.6 | |
| 7 days ago | 7 days ago | |
| C++ | C++ | |
| GNU General Public License v3.0 or later | BSD 3-clause "New" or "Revised" 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
xtensor
- Does anyone know any good open source project to optimize?
- Container slicing in c++
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Which is the best way to work with matrices and linear algebra using c++?
I use xtensor: https://github.com/xtensor-stack/xtensor
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Can you give an example of well-designed C++ code, and explain why you think it is so?
Currently, one of my current favorites is xtensor.
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Risk of valarray being deprecated?
xTensor natively supports tensors and multidimensional arrays - not just vectors and matrices. Is fast, but not always as fast as Eigen and Blaze - and compiles very slow. Has a nice syntax.
- Xtensor: multi-dimensional arrays with broadcasting and lazy computing
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Eigen: A C++ template library for linear algebra
I wonder how Eigen compares to xtensor, which was inspired by Numpy and has support for views, slicing, and broadcasting?
https://github.com/xtensor-stack/xtensor
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When researching and developing new algorithms to be used in the real-world production environment, what is your workflow and how do you usually do it? Do I have to prototype in Python, and then rewrite all code in C++/Rust?
You can try eigen (http://eigen.tuxfamily.org/), armadillo (http://arma.sourceforge.net/) which is based on LAPACK which is what numpy is based on and xtensor (https://github.com/QuantStack/xtensor) which I think is the closest thing to numpy you’re gonna find in c++
What are some alternatives?
meshcat - Remotely-controllable 3D viewer, built on top of three.js
Fastor - A lightweight high performance tensor algebra framework for modern C++
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
EA Standard Template Library - EASTL stands for Electronic Arts Standard Template Library. It is an extensive and robust implementation that has an emphasis on high performance.
idyntree - Multibody Dynamics Library designed for Free Floating Robots
dynarray - A header-only library, VLA for C++ (≥C++14). Extended version of std::experimental::dynarray
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
SwiftyWasmer - A Swift API for the Wasmer WebAssembly Runtime
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
GLM - OpenGL Mathematics (GLM)
meshcat-python - WebGL-based 3D visualizer for Python
Pytorch - Tensors and Dynamic neural networks in Python with strong GPU acceleration