Has anyone used Pinocchio with CasADi for optimization base motion planning and control applications? I'd love to hear more about your experiences. Also, I know frameworks like OCS2 and Crocoddyl exist, but I'm sort of looking to do more "from scratch". - ThreadSky

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roboticseabass.com • 103 days ago

Has anyone used Pinocchio with CasADi for optimization base motion planning and control applications?

I'd love to hear more about your experiences.

Also, I know frameworks like OCS2 and Crocoddyl exist, but I'm sort of looking to do more "from scratch".

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traversaro.bsky.social•102 days ago

We have some work in progress in that area (i.e. planning via direct transcription of optimal control problems with CasADi) at https://github.com/ami-iit/hippopt . We do not use Pinocchio but a Python-based implementation of the usual robotics dynamics algorithms available at https://github.com/ami-iit/adam .

traversaro.bsky.social•102 days ago

The nice aspect of using a Python-based implementation for the kinematics and dynamics algorithm is that is more readable for lab members. The semantics used for the algorithms class is inspired by iDynTree, a in-depth comparison w.r.t. to Pinocchio is available at https://github.com/ami-iit/idynfor/blob/5c97708360a4f4e3338bba4203893dcea7295c5c/doc/theory_background.md .

roboticseabass.com•102 days ago

This is super cool and relevant -- thank you for sharing!

I'm particularly interested in https://github.com/ami-iit/liecasadi which crops up in the code.

traversaro.bsky.social•102 days ago

Feel free to open GitHub issues if you have any curiosity! Some of the authors of the libraries are not on bsky, while for liecasadi and adam I just realized that the author (@giulero.bsky.social) is indeed here.

traversaro.bsky.social•102 days ago

I guess you could also be interested in https://gitlab.kuleuven.be/meco-software/rockit, that is developed by the same group developing CasADi itself.

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