Unverified Commit 1c1e7a93 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
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Merge pull request #1510 from nim65s/devel

badges: add PyPI
parents 1ca9c789 98cc9845
name: Test Pinocchio on Linux
name: CI - Linux via APT
on: [push,pull_request]
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name: Build Pinocchio for Mac OS X/Linux via Conda
name: CI - OSX/Linux via Conda
on: [push,pull_request]
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......@@ -2,7 +2,7 @@
# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
name: ROS-CI
name: CI - Linux via ROS
# This determines when this workflow is run
on: [push, pull_request] # on all pushes and PRs
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name: Build Pinocchio for Windows (CLANG) via Conda
name: CI - Windows (CLANG) via Conda
on:
pull_request:
push:
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name: Build Pinocchio for Windows (v142) via Conda
name: CI - Windows (v142) via Conda
on:
pull_request:
push:
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......@@ -4,11 +4,13 @@
<p align="center">
<a href="https://opensource.org/licenses/BSD-2-Clause"><img src="https://img.shields.io/badge/License-BSD%202--Clause-green.svg" alt="License"/></a>
<a href="https://travis-ci.org/stack-of-tasks/pinocchio"><img src="https://travis-ci.org/stack-of-tasks/pinocchio.svg?branch=master" alt="Build Status"/></a>
<a href="http://projects.laas.fr/gepetto/doc/stack-of-tasks/pinocchio/master/coverage/"><img src="https://gepgitlab.laas.fr/stack-of-tasks/pinocchio/badges/master/coverage.svg?job=doc-coverage" alt="Coverage Report"/></a>
<a href="https://anaconda.org/conda-forge/pinocchio"><img src="https://img.shields.io/conda/dn/conda-forge/pinocchio.svg" alt="Conda Downloads"/></a>
<a href="https://anaconda.org/conda-forge/pinocchio"><img src="https://img.shields.io/conda/vn/conda-forge/pinocchio.svg" alt="Conda Version"/></a>
<a href="https://conda.anaconda.org/conda-forge"><img src="https://anaconda.org/conda-forge/pinocchio/badges/installer/conda.svg" alt="Anaconda-Server Badge"/></a>
<a href="https://badge.fury.io/py/pin"><img src="https://badge.fury.io/py/pin.svg" alt="PyPI version" height="20"></a>
<br>
<!--<a href="https://gitlab.laas.fr/stack-of-tasks/pinocchio"><img src="https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/master/pipeline.svg" alt="Pipeline Status"></a>-->
</p>
<!--Pinocchio: a C++ library for efficient Rigid Multi-body Dynamics computations
......@@ -21,7 +23,7 @@ Besides, **Pinocchio** provides the analytical derivatives of the main Rigid-Bod
**Pinocchio** is first tailored for robotics applications, but it can be used in extra contexts (biomechanics, computer graphics, vision, etc.).
It is built upon Eigen for linear algebra and FCL for collision detection. **Pinocchio** comes with a Python interface for fast code prototyping, [directly accessible](https://github.com/conda-forge/pinocchio-feedstock#installing-pinocchio) through [Conda](https://docs.conda.io/en/latest/).
**Pinocchio** is now at the heart of various robotics softwares as [Crocoddyl](https://github.com/loco-3d/crocoddyl/tree/devel), an open-source and efficient Differential Dynamic Programming solver for robotics, the [Stack-of-Tasks](http://stack-of-tasks.github.io), an open-source and versatile hierarchical controller framework or the [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc), an open-source software for Motion and Manipulation Planning.
**Pinocchio** is now at the heart of various robotics softwares as [Crocoddyl](https://github.com/loco-3d/crocoddyl/tree/devel), an open-source and efficient Differential Dynamic Programming solver for robotics, the [Stack-of-Tasks](http://stack-of-tasks.github.io), an open-source and versatile hierarchical controller framework or the [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc), an open-source software for Motion and Manipulation Planning.
If you want to learn more on **Pinocchio** internal behaviors and main features, we invite you to read the related [paper](https://hal-laas.archives-ouvertes.fr/hal-01866228).
......@@ -58,11 +60,31 @@ or via pip (currently only available on Linux):
- header only,
- C++ 98/03/11/14/17/20 compliant.
**Pinocchio** is extensible.
**Pinocchio** is multi-thread friendly.
**Pinocchio** is reliable and extensively tested (unit-tests, simulations and real world robotics applications).
**Pinocchio** is extensible.
**Pinocchio** is multi-thread friendly.
**Pinocchio** is reliable and extensively tested (unit-tests, simulations and real world robotics applications).
**Pinocchio** is supported and tested on Windows, Mac OS X, Unix and Linux ([see build status here](http://robotpkg.openrobots.org/rbulk/robotpkg/math/pinocchio/index.html)).
## Pinocchio continuous integrations
**Pinocchio** is constantly tested for several platforms and distributions, as reported below:
<p align="center">
<table class="center">
<!-- <tr> <td> Continuous Integration </td></tr>-->
<tr><td> CI on ROS </td>
<td><a href="https://github.com/stack-of-tasks/pinocchio/actions/workflows/ros-ci.yml"><img alt="ROS" src="https://github.com/stack-of-tasks/pinocchio/actions/workflows/ros-ci.yml/badge.svg?branch=devel" /></a></td>
</tr><tr><td> CI on Linux via APT </td>
<td><a href="https://github.com/stack-of-tasks/pinocchio/actions/workflows/linux.yml"><img alt="linux" src="https://github.com/stack-of-tasks/pinocchio/actions/workflows/linux.yml/badge.svg?branch=devel" /></a></td>
</tr><tr><td> CI on OSX via Conda </td>
<td><a href="https://github.com/stack-of-tasks/pinocchio/actions/workflows/macos-linux-conda.yml"><img alt="mac" src="https://github.com/stack-of-tasks/pinocchio/actions/workflows/macos-linux-conda.yml/badge.svg?branch=devel" /></a></td>
</tr><tr><td> CI on Windows via Conda </td>
<td><a href="https://github.com/stack-of-tasks/pinocchio/actions/workflows/windows-conda-clang.yml"><img alt="windows" src="https://github.com/stack-of-tasks/pinocchio/actions/workflows/windows-conda-clang.yml/badge.svg?branch=devel" /></a></td>
</tr><tr><td> CI on Linux via Robotpkg </td>
<td><img src="https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/master/pipeline.svg" alt="Pipeline Status"></td>
</tr>
</table>
</p>
## Performances
**Pinocchio** exploits at best the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, **Pinocchio** is able to unroll most of the computations directly at compile time, allowing to achieve impressive performances for a large range of robots, as illustrated by the plot below, obtained on a standard laptop equipped with an Intel Core i7 CPU @ 2.4 GHz.
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