pinocchio

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Constraint Dynamics Drift

2

I am trying to simulate a quadruped robot using the constraintDynamics function on pinocchio3. However, there sometimes seems to be drift where the feet sink into the ground. Is there...

jameswzhu

Documenting difference between RBDL and Pinocchio

5

Hello, I am working on a controller for the TIAGo based upon the package [pal/gravity_compensation_controller_tutorial](https://github.com/pal-robotics/gravity_compensation_controller_tutorial), and I wish to use Pinocchio to replace RBDL. I have already written a bit...

waillyam23

Shared libraries from "pip install pin" with Bazel

2

Using Pinocchio as a Python dependency via the ``pip_install`` rule of Bazel's [rules_python](https://github.com/bazelbuild/rules_python) does not work. I haven't figured out a working solution yet. Here are some ongoing notes, all...

stephane-caron

MuJoCo xml parser?

1

With the recent open-sourcing of MuJoCo and significant increase in use of mujoco xmls in the community, is there any hope of having a mujoco XML parser soon?

dhruvthanki

Compiling URDF and SRDF parsers

18

Current implementations of URDF and SRDF parsers are header-only, meaning that the private flags related to the various versions of URDFDOM are transferred for correct compilation. In addition, for each...

jcarpent

Not optimal Eigen base class

13

While trying to make some code using pinocchio compile, I found stuff like this in the stack (demangled by myself) > void pinocchio::addSkew(const Eigen::MatrixBase&, const Eigen::MatrixBase&) [with > - Vector3Like...

jmirabel

Remove Body

2

Hey, I am working on modular robotics with pinocchio, which means I build lots of robots composed of the same modules. It would be convenient if it was possible to...

JonathanKuelz

getJointId should throw if out of range

19

Currently, if I query a joint that does not exist, I get the index of `vector.end()` which is out of bounds of `njoints`. Instead, if a joint does not exist,...

wxmerkt

extractCartesianAxis does not account for negative axis values?

11

Dear all, the method [extractCartesianAxis()](https://github.com/stack-of-tasks/pinocchio/blob/280005c8d99c2485ee942b6a38c4dc0edf75c706/src/parsers/urdf/model.hxx#L262) only considers positive unit vectors, and does not account for negative axes, such as (-1, 0, 0). URDF, by contrast, explicitly allows negative axes, http://wiki.ros.org/urdf/XML/joint,...

braunzel

Unilateral contact dynamics (both forward and inverse) for MuJoCo-esque locomotion experiments

2

https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_b-examples_k-qp.html Hello! I was hoping as I was reading through the documentation to find an example of how to use Pinocchio with unilateral contacts so I could do some experiments...

mhr