casadi support in python interfaces

stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

http://stack-of-tasks.github.io/pinocchio/

BSD 2-Clause "Simplified" License

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Closed ghost closed 2 years ago

ghost commented 2 years ago

is it supported by pinocchio 2.9.1 to export the casadi symbolic expression of dynamics, i.e., aba, rnea ...?

jcarpent commented 2 years ago

Yes, you can compile Pinocchio Python bindings with Casadi support. It will enable you to work with any robot and express the graph for all the implemented algorithms. Please look at this branch: https://github.com/stack-of-tasks/pinocchio/tree/pinocchio3-preview