pinocchio
2.4.5
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Examples
Loading the model
Geometry models
Load and display a model
Computing the dynamics RNEA, bias forces b(q,v), gravity g(q), CRBA M(q)
Contact dynamics
Collision detection and distances
Derivatives of the dynamics (with finite diff checking)
Code generation
Inverse geometry
Inverse kinematics (clik)
Task space inverse dynamics
QP (normal forces) unilateral contact dynamics (if we can write it concise enough)
Posture generation using derivatives (if we can write it concise enough)
A RRT planner for a robot arm (if we can write it concise enough)
A RL tensorflow example (if we can write it concise enough)
Generated by
1.8.11