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diff --git a/doc/pinocchio_cheat_sheet.tex b/doc/pinocchio_cheat_sheet.tex
index c2e12827896caedaf20601db85181130b60f0e6a..ef2832994a3b47e921a9fed9a35838f00767bfc5 100644
--- a/doc/pinocchio_cheat_sheet.tex
+++ b/doc/pinocchio_cheat_sheet.tex
@@ -1,23 +1,10 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Pinocchio Cheat Sheet
-%
-% Edited by Aurélie Bonnefoy
-% Available at https://www.overleaf.com/project/5e66106889524e000114b5df
-%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%% TODOs %%%%%%%%%%%%%
-% - purpose of the cheat sheet ? overview for beginners vs. completeness and adv. algos
-% - add derivatives
-% - add missing algorithms
-% - restructure main algorithm section
-% - think about common abbreviations to avoid too many 2liners
-% - add links to overview / pinocchio doc / more detailed explanations, featherstone book
-% - adapt design, maybe not all cols need to be the same lengths, algos need much more space
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
\documentclass[10.5pt]{article}
\usepackage[landscape,a3paper]{geometry}
+\usepackage[table]{xcolor}
\usepackage{url}
\usepackage{multicol}
\usepackage{amsmath}
@@ -27,10 +14,11 @@
\usepackage{amsmath,amssymb}
\usepackage{colortbl}
-\usepackage{xcolor}
\usepackage{mathtools}
\usepackage{amsmath,amssymb}
\usepackage{enumitem}
+\usepackage{arydshln}
+\usepackage{wrapfig}
\title{Pinocchio Cheat Sheet}
\usepackage[english]{babel}
@@ -38,7 +26,6 @@
\usepackage{minted}
\usemintedstyle{vs}
-\usepackage{xcolor}
\advance\topmargin-3cm
@@ -65,11 +52,14 @@
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
- \begin{tabular}{p{3cm} | p{8cm}}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ easy install & \texttt{conda install -c conda-forge pinocchio}\\
import & \texttt{import pinocchio as pin}\\
& \texttt{from pinocchio.utils import *} \\
- get documentation & \texttt{pin.Model?} \\
+ \textbf{documentation} & \texttt{pin.Model?} \\
\end{tabular}
+
\end{minipage}
};
@@ -78,24 +68,28 @@
%------------ End Get started ---------------------
%------------ Begin Spatial quantities ---------------------
+
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
-
+ \rowcolors{1}{white}{gray!20}
\centerline{\textbf{Transforms}}\vspace{0.1cm}
- \begin{tabular}{p{4cm} | p{7cm}}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
SE3 & \texttt{aMb = pin.SE3(aRb,apb)} \\ \hline
- \quad unit transformation & \texttt{M = pin.SE3(1)} \\
+ \quad unit transformation & \texttt{M = pin.SE3(1)} or \texttt{pin.SE3.Identity()} \\
+ \quad random transformation & \texttt{pin.SE3.Random()} \\
\quad rotation matrix & \texttt{M.rotation} \\
\quad translation vector & \texttt{M.translation} \\ \hline
SE3 inverse & \texttt{bMa = aMb.inverse()} \\
SE3 action & \texttt{aMc = aMb * bMc} \\
action matrix & \texttt{aXb = aMb.action} \\
homegeneous matrix & \texttt{aHb = aMb.homogeneous} \\
+ log operation SE3 $\rightarrow$ 6D & \texttt{pin.log(M)} \\
+ exp operation & \texttt{pin.exp(M)} \\
\end{tabular} \newline
\centerline{\textbf{Spatial Velocity}}\vspace{0.1cm}
- \begin{tabular}{p{4cm} | p{7cm}}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
Motion & \texttt{m = pin.Motion(v,w)} \\ \hline
\quad linear acceleration & \texttt{m.linear} \\
\quad angular acceleration & \texttt{m.angular} \\ \hline
@@ -103,14 +97,14 @@
\end{tabular} \newline
\centerline{\textbf{Spatial Acceleration}}\vspace{0.1cm}
- \begin{tabular}{p{4cm} | p{7cm}}
- is used in algorithms & \texttt{a = ($\dot{\omega}$,$\dot{v}_O$)} \\
- Get classical acceleration & \texttt{a' = a + $(0, \omega \times v_O)$} \\
+ \begin{tabular}{p{4cm} | p{7.5cm}}
+ used in algorithms & \texttt{a = ($\dot{\omega}$,$\dot{v}_O$)} \\
+ get classical acceleration & \texttt{a' = a + $(0, \omega \times v_O)$} \\
& \texttt{pin.classicAcceleration(v,a, [aMb])} \\
\end{tabular} \newline
\centerline{\textbf{Spatial Force}}\vspace{0.1cm}
- \begin{tabular}{p{4cm} | p{7cm}}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
Force & \texttt{f = pin.Force(l,n)} \\ \hline
\quad linear force & \texttt{f.linear} \\
\quad torque & \texttt{f.angular} \\ \hline
@@ -118,7 +112,7 @@
\end{tabular} \newline
\centerline{\textbf{Spatial Inertia}}\vspace{0.1cm}
- \begin{tabular}{p{4cm} | p{7cm}}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
Inertia & \texttt{Y = pin.Inertia(mass,com,I)} \\ \hline
\quad mass & \texttt{Y.mass} \\
\quad center of mass pos. & \texttt{Y.lever} \\
@@ -126,14 +120,14 @@
\end{tabular} \newline
\centerline{\textbf{Geometry}}\vspace{0.1cm}
- \begin{tabular}{p{4cm} | p{7cm}}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
Quaternion & \texttt{quat = pin.Quaternion(R)} \\
Angle Axis & \texttt{aa = pin.AngleAxis(angle,axis)} \\
\end{tabular} \newline
\centerline{\textbf{Useful converters}}
\vspace{0.2cm}
- \begin{tabular}{p{4cm} | p{7cm}}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
SE3 $\rightarrow$ (x,y,z,quat) & \texttt{pin.se3ToXYZQUAT(M)} \\
(x,y,z,quat) $\rightarrow$ SE3 & \texttt{pin.XYZQUATToSE3(vec)} \\
\end{tabular}
@@ -145,20 +139,50 @@
\end{tikzpicture}
%------------ End Spatial quantities ---------------------
+%------------ Begin Data ---------------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
+ Data {\small related to the model} & \texttt{data = pin.Data(model)} \\
+ & \texttt{data = model.createData()} \\ \hline
+ \hspace{0.5em} joint data & \texttt{data.joints} \\
+ \hspace{0.5em} joint placements & \texttt{data.oMi} \\
+ \hspace{0.5em} joint velocities & \texttt{data.v} \\
+ \hspace{0.5em} joint accelerations & \texttt{data.a} \\
+ \hspace{0.5em} joint forces & \texttt{data.f} \\
+ \hspace{0.5em} mass matrix & \texttt{data.M} \\
+ \hspace{0.5em} non linear effects & \texttt{data.nle} \\
+ \hspace{0.5em} centroidal momentum & \texttt{data.hg} \\
+ \hspace{0.5em} centroidal matrix & \texttt{data.Ag} \\
+ \hspace{0.5em} centroidal inertia & \texttt{data.Ig} \\
+ \end{tabular}
+
+ \end{minipage}
+};
+
+\node[fancytitle] at (box.north) {Data};
+\end{tikzpicture}
+%------------ End Data ---------------------------------
+
%------------ Begin Model --------------------------------
% Some items in this box here seems kind of self-explanatory, good idea to make award of the different attributes and methods but maybe not to best representation (model name - model.name) , others are quite useful.
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
- \begin{tabular}{p{4cm} | p{7cm}}
- Model & \texttt{model = pin.Model()} \\ \hline
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
+ Model {\small of the kinematic tree} & \texttt{model = pin.Model()} \\ \hline
\quad model name & \texttt{model.name} \\
\quad joint names & \texttt{model.names} \\
\quad joint models & \texttt{model.joints} \\
\quad joint placements & \texttt{model.placements} \\
\quad link inertias & \texttt{model.inertias} \\
\quad frames & \texttt{model.frames} \\
- Methods & \\ \hline
+ \quad \# position variables & \texttt{model.nq} \\
+ \quad \# velocity variables & \texttt{model.nv} \\
+ Methods & use ? to get doc and input arguments \\ \hline
% Inputs missing, but there are a lot. maybe enough like this and doc should be ask. maybe another hint to the doc ?
\quad add joint & \texttt{model.addJoint} \\
\quad append body & \texttt{model.appendBodyToJoint} \\
@@ -179,11 +203,10 @@
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
-
- \begin{tabular}{p{3cm} | p{8cm}}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
load an URDF file & \texttt{pin.buildModelFromUrdf(filename,[root\_joint])} \\
- load a SDF file & \texttt{pin.buildModelFromSdf(filename,[root\_joint]} \\
- & \texttt{root\_link\_name,parent\_guidance)} \\
+ load a SDF file & \texttt{pin.buildModelFromSdf(filename,[root\_joint], root\_link\_name,parent\_guidance)} \\
\end{tabular}
\end{minipage}
@@ -193,252 +216,413 @@
\end{tikzpicture}
%------------ End Parsers --------------------------------
-%------------ Begin Data ---------------------------------
+%------------ Begin Reference Frames ---------------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.25\linewidth}
+ \includegraphics[]{local_world_aligned.pdf}
+ \end{minipage}%
+ \begin{minipage}{0.65\linewidth}
+ \small{Coordinate system (CS)}\newline
+ \\
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{4.0cm} | p{4.0cm}}
+ WORLD & world CS \\
+ LOCAL & local CS of the joint \\
+ LOCAL\_WORLD\_ALIGNED & local CS aligned with WORLD axis \\
+
+ \end{tabular}
+
+ \end{minipage}
+};
+
+\node[fancytitle] at (box.north) {Reference Frames};
+\end{tikzpicture}
+%------------ End Reference Frames ---------------------------------
+
+%------------ Begin Frames ----------------------------
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
- \begin{tabular}{p{4cm} | p{7cm}}
- Data & \texttt{data = pin.Data(model)} \\
- & \texttt{data = model.createData()} \\ \hline
- \hspace{0.5em} joint data & \texttt{data.joints} \\
- \hspace{0.5em} joint placements & \texttt{data.oMi} \\
- \hspace{0.5em} joint velocities & \texttt{data.v} \\
- \hspace{0.5em} joint accelerations & \texttt{data.a} \\
- \hspace{0.5em} joint forces & \texttt{data.f} \\
- \hspace{0.5em} mass matrix & \texttt{data.M} \\
- \hspace{0.5em} non linear effects & \texttt{data.nle} \\
- \hspace{0.5em} centroidal momentum & \texttt{data.hg} \\
- \hspace{0.5em} centroidal matrix & \texttt{data.Ag} \\
- \hspace{0.5em} centroidal inertia & \texttt{data.Ig} \\ \hline
- Reference frames & \\
- LOCAL & local coordinate system of the joint \\
- LOCAL\_WORLD\_ALIGNED & local coordinate system aligned with WORLD axis \\
- WORLD & world coordinate system \\
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
+ placement of all operational frames & \texttt{pin.updateFramePlacements(model, data)} \\
+ frame veloctiy & \texttt{pin.getFrameVelocity(model, data, frame\_id, ref\_frame)} \\
+ frame acceleration & \texttt{pin.getFrameAcceleration(model, data, frame\_id, ref\_frame)} \\
+ frame acceleration & \texttt{pin.getFrameClassicalAcceleration(\newline model, data, frame\_id, ref\_frame)} \\
+ frames placement & \texttt{pin.framesForwardKinematics(model, data, q)} \\
+ frame jacobian & \texttt{pin.computeFrameJacobian(model, data, q, frame\_id, ref\_frame)} \\ \hline
+ frame jacobian time variation & \texttt{pin.frameJacobianTimeVariation(model, data, q, v, frame\_id, ref\_frame)} \\
+ % maybe better to use symbols ?
+ partial derivatives of the spatial velocity & \texttt{pin.getFrameVelocityDerivatives(model, data, frame\_id, ref\_frame)} \\
+ partial derivatives of the spatial velocity & \texttt{pin.getFrameVelocityDerivatives(model, data, joint\_id, placement ref\_frame)} \\
+ partial derivatives of the spatial acceleration & \texttt{pin.getFrameVelocityDerivatives(model, data, frame\_id, ref\_frame)} \\
+ partial derivatives of the spatial acceleration & \texttt{pin.getFrameAccelerationDerivatives\newline (model, data, joint\_id, placement ref\_frame)} \\
\end{tabular}
\end{minipage}
};
-\node[fancytitle] at (box.north) {Data};
+\node[fancytitle] at (box.north) {Frames};
\end{tikzpicture}
-%------------ End Data ---------------------------------
+%------------ End Frames ------------------------
-%------------ Begin Main Algorithms---------------------
+%------------ Begin Configuration -------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
+ random configuration & \texttt{pin.randomConfiguration(model, [lower\_bound, upper\_bound])} \\
+ neutral configuration & \texttt{pin.neutral(model)} \\
+ normalized configuration & \texttt{pin.normalize(model, q)} \\
+ difference configurations & \texttt{pin.difference(model, q1, q2)} \\
+ distance configurations & \texttt{pin.distance(model, q1, q2)} \\
+ squared distance configurations & \texttt{pin.squareDistance(model, q1, q2)} \\
+ interpolate configuration & \texttt{pin.interpolate(model, q1, q2, alpha)} \\
+ integrate configuration & \texttt{pin.integrate(model, q, v)} \\ \hline
+ partial derivatives of difference & \texttt{pin.dDifference(model, q1, q2, [arg\_pos])} \\
+ partial derivatives of integration & \texttt{pin.dIntegrate(model, q, v, [arg\_pos])}
+ \end{tabular}
+
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Configuration};
+\end{tikzpicture}
+%------------ End Configuration ---------------------------
-% List the missing algorithms and decide which to include
-% - joint : dIntegrate, interpolate, difference
-% - contact-jacobian: getConstraintJacobian
-% - contact-dynamics: forwardDynamics, impulseDynamics, computeKKTContactDynamicMatrixInverse
-% - constrained-dynamics: initConstraintDynamics, constraintDynamics
-% - constrained-dynamics-derivatives: computeConstraintDynamicsDerivatives
-% - collision / broadphase: computeCollisions
-% - kinematic regressor
-% - regressor: computeStaticRegressor, bodyRegressor, jointBodyRegressor, computeJointTorqueRegressor
-% - cholesky: decompose, solve, computeMinv
-% - impulse dynamics
+%------------ Begin Collision -------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ placement collision obj & \texttt{pin.updateGeometryPlacements(model, data, geometry\_model, geometry\_data, [q])} \\
+ collisions detection for all pairs & \texttt{pin.computeCollisions(model, data, geometry\_model, geometry\_data, q)} \\
+ collisions detection for a pair &
+ \texttt{pin.computeCollisions(geometry\_model, geometry\_data, pair\_index)} \\
+ distance from collision & \texttt{pin.computeDistance(geometry\_model, geometry\_data, [pair\_index])} \\
+ distance from collision each pair &
+ \texttt{pin.computeDistances([model, data], geometry\_model, geometry\_data, [q])} \\
+ geometry volume radius & \texttt{pin.computeBodyRadius(model, geometry\_model, geometry\_data} \\ \hline
+ BroadPhase &
+ \texttt{pin.computeCollisions(broadphase\_manager, callback)} \\
+ & \texttt{pin.computeCollisions(broadphase\_manager, stop\_at\_first\_collision)} \\
+ + forward kinmetatics to update geometry placements & \texttt{pin.computeCollisions(model, data, broadphase\_manager, q, stop\_at\_first\_collision)} \\
+ \end{tabular}
+
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Collision};
+\end{tikzpicture}
+%------------ End Collision ---------------------------
+%------------ Begin COM ---------------------------------
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{4cm} | p{7.5cm}}
+ total mass of model & \texttt{pin.computeTotalMass(model, [data])} \\
+ mass of each subtree & \texttt{pin.computeSubtreeMasses(model, data)} \\
+ center of mass (COM) & \texttt{pin.centerOfMass(model, data, q, [v, a],[compute\_subtree\_com])} \\
+ Jacobian COM & \texttt{pin.jacobianCenterOfMass(model, data, [q],[compute\_subtree\_com])} \\
+ \end{tabular}
+
+ \end{minipage}
+};
- \centerline{\textbf{Configuration}}
- \begin{tabular}{p{3cm} | p{8cm}}
- placement collision obj & \texttt{pin.updateGeometryPlacements(model, data, robot.collision\_model, robot.collision\_data, q)} \\
- collisions detection & \texttt{pin.computeCollisions(robot.collision\_model, robot.collision\_data, False)} \\
- distance from collision & \texttt{pin.computeDistances(robot.collision\_model, robot.collision\_data)} \\
- integrate configuration & \texttt{pin.integrate(model, q, v)} \\
- \end{tabular} \newline
+\node[fancytitle] at (box.north) {Center of Mass};
+\end{tikzpicture}
+%------------ End COM ---------------------------------
- \centerline{\textbf{Kinematics}}
- \begin{tabular}{p{3cm} | p{8cm}}
- forward kinematics & \texttt{pin.forwardKinematics(model, data, q, [v, [ a] ])} \\
- forward kinematics derivatives & \texttt{pin.computeForwardKinematicsDerivatives( \newline model,data,q,v,a)} \\
- dv\_dq,dv\_dv = & \texttt{pin.getJointVelocityDerivatives(model,data, \newline joint\_id,pin.ReferenceFrame.WORLD)} \\
- dv\_dq\_local,da\_dq\_\newline local,da\_dv\_local,\newline da\_da\_local = & \texttt{ pin.getJointAccelerationDerivatives(model,data,\newline joint\_id,pin.ReferenceFrame.LOCAL)} \\
- frames placement & \texttt{pin.framesForwardKinematics(model, data, q)} \\
- frame jacobian & \texttt{pin.computeFrameJacobian(model, data, q, frame\_id, ref\_frame)} \\
+%------------ Begin Energy -------------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ FK and kinetic Energy & \texttt{pin.computeKineticEnergy(model, data, [q, v]) } \\
+ FK and potential Energy & \texttt{pin.computePotentialEnergy(model, data, [q, v]) } \\
+ FK and mechanical Energy & \texttt{pin.computeMechanicalEnergy(model, data, [q, v]) } \\
+ \end{tabular}
+
+ \end{minipage}
+};
+
+\node[fancytitle] at (box.north) {Energy};
+\end{tikzpicture}
+%------------ End Energy ---------------------------------
+
+%------------ Begin Kinematics -------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ forward kinematics (FK) & \texttt{pin.forwardKinematics(model, data, q, [v,[a]])} \\ \hline
+ FK derivatives & \texttt{pin.computeForwardKinematicsDerivatives( \newline model, data, q, v, a)} \\
+ $\left[ \frac{\partial{v}}{\partial{q}},\frac{\partial{v}}{\partial{\dot{q}}} \right]^{WORLD}$ & \texttt{pin.getJointVelocityDerivatives(model, data, joint\_id,pin.ReferenceFrame.WORLD)} \\
+ $\left[ \frac{\partial{v}}{\partial{q}},\frac{\partial{a}}{\partial{q}}, \frac{\partial{a}}{\partial{\dot{q}}}\right]^{LOCAL}$ & \texttt{pin.getJointAccelerationDerivatives(model, data, joint\_id,pin.ReferenceFrame.LOCAL)} \\
% getVelocity, getAcceleration, getClassicalAcceleration
- \end{tabular} \newline
+ \end{tabular}
+
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Kinematics};
+\end{tikzpicture}
+%------------ End Kinematics ---------------------------
- \centerline{\textbf{Jacobian}}
- \begin{tabular}{p{3cm} | p{8cm}}
- full model Jacobian data.J & \texttt{pin.computeJointJacobians(model, data, [q])} \\
- joint Jacobian & \texttt{pin.getJointJacobian(model, data, joint\_id, ref\_frame)} \\
+%------------ Begin Jacobian ----------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ full model Jacobian $\rightarrow$ data.J & \texttt{pin.computeJointJacobians(model, data, [q])} \\
+ joint Jacobian & \texttt{pin.getJointJacobian(model, data, joint\_id, ref\_frame)} \\ \hline
full model dJ/dt & \texttt{pin.computeJointJacobiansTimeVariation(model, data, q, v)} \\
joint dJ/dt & \texttt{pin.getJointJacobianTimeVariation(model, data, joint\_id, ref\_frame)} \\
- \end{tabular} \newline
+ \end{tabular}
+
+ \end{minipage}
+};
- \centerline{\textbf{Forward Dynamics}}
- \begin{tabular}{p{3cm} | p{8cm}}mmmm
+\node[fancytitle] at (box.north) {Jacobian};
+\end{tikzpicture}
+%------------ End Jacobian ------------------------------
+
+%------------ Begin Forward Dynamics ---------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
Articulated-Body Algorithm $\ddot{q}$ & \texttt{pin.aba(model, data, q, v, tau, [f\_ext]) } \\
Joint Space Inertia Matrix Inv & \texttt{pin.computeMinverse(model, data, [q]) } \\ \hline
Composite Rigid-Body Algorithm & \texttt{pin.crba(model, data, q)}
- \end{tabular} \newline
+ \end{tabular}
- \centerline{\textbf{Inverse Dynamics}}
- \begin{tabular}{p{3cm} | p{8cm}}
+ \end{minipage}
+};
+
+\node[fancytitle] at (box.north) {Forward Dynamics};
+\end{tikzpicture}
+%------------ End Forward Dynamics -----------------------
+
+%------------ Begin Inverse Dynamics ---------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
Recursive Newton-Euler Algorithm & \texttt{pin.rnea(model, data, q, v, a, [f\_ext]) } \\
+ generalized gravity & \texttt{pin.computeGeneralizedGravity(model, data, q) } \\
+ \hline
dtau\_dq, dtau\_dv, dtau\_da & \texttt{pin.computeRNEADerivatives(model, data, q, v, a, [f\_ext]) } \\
% nonLinearEffects, computeGeneralizedGravity, computeStaticTorque, computeCoriolisMatrix
- \end{tabular} \newline
-
- \centerline{\textbf{Centroidal}}
- \begin{tabular}{p{3cm} | p{8cm}}
- Centroidal momentum & \texttt{pin.computeCentroidalMomentum(model, data, [q, v]) } \\
- Centroidal momentum + time derivatives & \texttt{pin.computeCentroidalMomentumTimeVariation(model, data, [q, v, a]) } \\
- % also mention ccrba, dccrba, computeCentroidalMap, computeCentroidalMapTimeVariation?
- \end{tabular} \newline
-
- \centerline{\textbf{Energy}}
- \begin{tabular}{p{3cm} | p{8cm}}
- forward kinematics and kin. E & \texttt{pin.computeKineticEnergy(model, data, [q, v]) } \\
- forward kinematics and pot. E & \texttt{pin.computePotentialEnergy(model, data, [q, v]) } \\
- forward kinematics and mech. E & \texttt{pin.computeMechanicalEnergy(model, data, [q, v]) } \\
- % also mention ccrba, dccrba, computeCentroidalMap, computeCentroidalMapTimeVariation?
- \end{tabular} \newline
+ \end{tabular}
- \centerline{\textbf{General}}
- \begin{tabular}{p{3cm} | p{8cm}}
- all terms, check doc & \texttt{pin.computeAllTerms(model, data, q, v) } \\
- \end{tabular} \newline
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Inverse Dynamics};
+\end{tikzpicture}
+%------------ End Inverse Dynamics -----------------------
+%------------ Begin Centroidal ---------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ Centroidal momentum & \texttt{pin.computeCentroidalMomentum(model, data, [q, v]) } \\ \hline
+ Centroidal momentum + time derivatives & \texttt{pin.computeCentroidalMomentumTimeVariation(\newline model, data, [q, v, a]) } \\
+ % also mention ccrba, dccrba, computeCentroidalMap, computeCentroidalMapTimeVariation?
+ \end{tabular}
+
\end{minipage}
};
-\node[fancytitle, right=10pt] at (box.north west) {Main algorithms};
+\node[fancytitle] at (box.north) {Centroidal};
\end{tikzpicture}
-%------------ End Main Algorithms------------------
+%------------ End Centroidal -----------------------------
-%------------ Begin COM ---------------------------------
+
+%------------ Begin General ------------------------------
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
- \begin{tabular}{p{4cm} | p{7cm}}
- Total mass of model & \texttt{pin.computeTotalMass(model, [data])} \\
- Mass of each subtree & \texttt{pin.computeSubtreeMasses(model, data)} \\
- Center of mass & \texttt{pin.centerOfMass(model, data, q, [v, a],[compute\_subtree\_com])} \\
- Jacobian center of mass & \texttt{pin.jacobianCenterOfMass(model, data, [q],[compute\_subtree\_com])} \\
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ all terms (check doc) & \texttt{pin.computeAllTerms(model, data, q, v) } \\
\end{tabular}
\end{minipage}
};
-\node[fancytitle] at (box.north) {COM};
+\node[fancytitle] at (box.north) {General};
\end{tikzpicture}
-%------------ End COM ---------------------------------
+%------------ End General -------------------------------
-%------------ Begin Frames ---------------------------------
+%------------ Begin Kinematic Regressor -------------------------
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
- \begin{tabular}{p{4cm} | p{7cm}}
- placement of all operational frames & \texttt{pin.updateFramePlacements(model, data)} \\
- frame veloctiy & \texttt{pin.getFrameVelocity(model, data, frame\_id, reference\_frame)} \\
- frame acceleration & \texttt{pin.getFrameAcceleration(model, data, frame\_id, reference\_frame)} \\
- frame acceleration & \texttt{pin.getFrameClassicalAcceleration(model, data, frame\_id, reference\_frame)} \\
- frames placement & \texttt{pin.framesForwardKinematics(model, data, q)} \\
- frame jacobian & \texttt{pin.computeFrameJacobian(model, data, q, frame\_id, ref\_frame)} \\
- frame jacobian time variation & \texttt{pin.frameJacobianTimeVariation(model, data, q, v, frame\_id, ref\_frame)} \\
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ kinematic regressor & \texttt{pin.computeJointKinematicRegressor(model, data, joint\_id, ref\_frame, [placement])} \\
+ kinematic regressor & \texttt{pin.computeFrameKinematicRegressor(model, data, frame\_id, ref\_frame)} \\
\end{tabular}
\end{minipage}
};
+\node[fancytitle] at (box.north) {Kinematic Regressor};
+\end{tikzpicture}
+%------------ End Kinematic Regressor ---------------------------
-\node[fancytitle] at (box.north) {Frames};
+%------------ Begin Regressor -------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ static regressor & \texttt{pin.computeStaticRegressor(model, data, q)} \\
+ body regressor & \texttt{pin.bodyRegressor(velocity, acceleration)} \\
+ body attached to joint regressor & \texttt{pin.jointBodyRegressor(model, data, joint\_id)} \\
+ body attached to frame regressor & \texttt{pin.frameBodyRegressor(model, data, frame\_id)} \\
+ joint torque regressor & \texttt{pin.computeJointTorqueRegressor(model, data, q, v, a)} \\
+ \end{tabular}
+
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Regressor};
\end{tikzpicture}
-%------------ End Frames ---------------------------------
-
-
-%%------------ Optimization ---------------------
-%\begin{tikzpicture}
-%\node [mybox] (box){%
-% \begin{minipage}{0.9\linewidth}
-%
-%
-% \begin{tabular}{p{3cm} | p{8cm}}
-% initialization & \texttt{from scipy.optimize import fmin\_bfgs} \\
-% & \texttt{from scipy.optimize import fmin\_slsqp} \\ \hline
-% BFGS optimization & \texttt{fmin\_bfgs(cost, x0, callback)} \\ \hline
-% SLSQP optimization & \texttt{fmin\_slsqp(cost, x0, callback, f\_eqcons) }
-% \end{tabular}
-%
-%
-% \end{minipage}
-%};
-%%------------ Title ---------------------
-%\node[fancytitle, right=10pt] at (box.north west) {Optimization};
-%\end{tikzpicture}
-
-
-%------------ Begin Robot Wrapper ---------------
-% TODO explain usage / utility of robot wrapper in a sentence
+%------------ End Regressor ---------------------------
+
+
+
+%------------ Begin Contact Jacobian -------------------------
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ kinematic Jacobian of constraint model & \texttt{pin.getConstraintJacobian(model, data, contact\_model, contact\_data)} \\
+ kinematic Jacobian of set of constraint models& \texttt{pin.getConstraintJacobian(model, data, contact\_models, contact\_datas)} \\
+ \end{tabular}
+
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Contact Jacobian};
+\end{tikzpicture}
+%------------ End Contact Jacobian ---------------------------
- \begin{tabular}{p{3cm} | p{8cm}}
- import & \texttt{from pinocchio.robot\_wrapper import RobotWrapper} \\ \hline
- reference initial position & \texttt{robot.q0} \\ \hline
- display & \texttt{robot.display(q)} \\ \hline
- return joint index & \texttt{robot.index('joint name')} \\ \hline
- model constants & \texttt{model = robot.model} \\
- \quad names & \texttt{model.names} \\
- \quad frames & \texttt{model.frames} \\ \hline
- model data & \texttt{data = robot.data} \\ \hline
- joint placement & \texttt{robot.placement(idx)} \\
- \quad translation & \texttt{robot.placement(idx).translation} \\
- \quad rotation & \texttt{robot.placement(idx).rotation} \\ \hline
- frame placement & \texttt{robot.framePlacement(idx)} \\
- \end{tabular} \newline
+%------------ Begin Contact Dynamics -------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ constrained dynamics with contacts & \texttt{pin.forwardDynamics(model, data, [q, v,] tau, constraint\_jacobian, constraint\_drift, damping)} \\
+ impact dynamics with contacts & \texttt{pin.impulseDynamics(model, data, [q,] v\_before, constraint\_jacobian, restitution\_coefficient, damping)} \\
+ inverse of the constraint matrix & \texttt{pin.computeKKTContactDynamicMatrixInverse(\newline model, data, q, constraint\_jac, damping)} \\
+ % getKKTContactDynamicMatrixInverse
+ \end{tabular}
+
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Contact Dynamics};
+\end{tikzpicture}
+%------------ End Contact Dynamics ---------------------------
+%------------ Begin Constraint Dynamics -------------------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ allocate memory & \texttt{pin.initConstraintDynamics(model, data, contact\_models)} \\
+ forward dynamics with contact constraints & \texttt{pin.constraintDynamics(model, data, q, v, tau, contact\_models, contact\_datas, [prox\_settings])} \\ \hline
+ derivatives of the forward dynamics with kinematic constraints & \texttt{pin.computeConstraintDynamicsDerivatives(\newline model, data, contact\_models, contact\_datas, prox\_settings)} \\
+ \end{tabular}
+
\end{minipage}
};
+\node[fancytitle] at (box.north) {Constraint Dynamics};
+\end{tikzpicture}
+%------------ End Constraint Dynamics ---------------------------
-\node[fancytitle, right=10pt] at (box.north west) {Robot Wrapper class };
+%------------ Begin Impulse Dynamics -------------------------
+% TODO dupliacte with contact dynamics ? not really, different args
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ impulse dynamics with contact constraints & \texttt{pin.impulseDynamics(model, data, q, v, contact\_models, contact\_datas, r\_coeff, mu)} \\ \hline
+ impulse dynamics derivatives & \texttt{pin.computeImpulseDynamicsDerivatives(model, data, contact\_models, contact\_datas, r\_coeff, prox\_settings)} \\
+
+ \end{tabular}
+
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Impulse Dynamics};
\end{tikzpicture}
-%------------ End Robot Wrapper ---------------
+%------------ End Impulse Dynamics ---------------------------
-%------------ Begin Gepetto Viewer --------------
+%------------ Begin Cholesky -------------------------
\begin{tikzpicture}
\node [mybox] (box){%
\begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ Cholesky decomposition of the joint space inertia matrix & \texttt{pin.cholesky.decompose(model, data)} \\
+ $x$ of $ M x = y$ & \texttt{pin.cholesky.solve(model, data, v)} \\
+ inverse of the joint space inertia matrix & \texttt{pin.cholesky.computeMinv(model, data)} \\
+ \end{tabular}
+
+ \end{minipage}
+};
+\node[fancytitle] at (box.north) {Cholesky};
+\end{tikzpicture}
+%------------ End Cholesky ---------------------------
+
+%------------ Begin Viewer --------------
+\begin{tikzpicture}
+\node [mybox] (box){%
+ \begin{minipage}{0.9\linewidth}
+ \rowcolors{1}{white}{gray!20}
\centerline{\textbf{Get started}}
- \begin{tabular}{p{3cm} | p{8cm}}
- open from terminal & \texttt{gepetto-gui} \\ \hline
- import & \texttt{import gviewserver}\\ \hline
- initialization & \texttt{gv = gviewserver.GepettoViewerServer()} \\
- \quad or & \texttt{gv=robot.viewer.gui}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ create viewer & \texttt{mv = pin.visualize.MeshcatVisualizer} \\
+ load model & \texttt{viz = mv(model, collision\_model, visual\_model)} \\
+ initialize & \texttt{viz.initViewer(loadModel=True)} \\
+ display & \texttt{viz.display(q)} \\
\end{tabular} \newline
+
\centerline{\textbf{Add basic shapes}}
- \begin{tabular}{p{3cm} | p{8cm}}
- sphere & \texttt{gv.addSphere('world/Sphere', radius, color=[r,g,b,a])} \\ \hline
- capsule & \texttt{gv.addCapsule('world/Capsule', radis, length, color)} \\ \hline
- box & \texttt{gv.addBox('world/Box', depth(x), length(y), height(z), color)}\\ \hline
- axis & \texttt{gv.addXYZaxis('world/Frame', color, radius, size)}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ sphere & \texttt{viz.viewer[name].set\_object(meshcat.geometry.\newline Sphere(size), material)} \\ \hline
+ box & \texttt{viz.viewer[name].set\_object(meshcat.geometry.\newline Box([sizex, sizey, sizez]), material)}\\ \hline
\end{tabular} \newline
\centerline{\textbf{Display}}
- \begin{tabular}{p{3cm} | p{8cm}}
- configuration & \texttt{gv.applyConfiguration('path/to/the/shape', [x,y,z,quaternion])} \\ \hline
- refresh & \texttt{gv.refresh()}
+ \begin{tabular}{p{3cm} | p{8.5cm}}
+ change placement of geometry [name] & \texttt{viz.viewer[name].set\_transform(\newline meshcat\_transform(xyzquat\_placement))} \\ \hline
+ % refresh & \texttt{viz.refresh()}
\end{tabular} \newline
- \centerline{\textbf{Clean scene}}
- \begin{tabular}{p{3cm} | p{8cm}}
- erase world & \texttt{gv.deleteNode('world',True)}
- \end{tabular}
-
\end{minipage}
};
-\node[fancytitle, right=10pt] at (box.north west) {Gepetto Viewer};
+\node[fancytitle, right=10pt] at (box.north west) {Viewer};
\end{tikzpicture}
-%------------ End Gepetto Viewer --------------
+%------------ End Viewer --------------
\end{multicols*}
\end{document}