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**Pinocchio** is extensible.
**Pinocchio** is multi-thread friendly.
**Pinocchio** is reliable and extensively tested (unit-tests, simulations, and real-world robotics applications).
**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)).

## Documentation
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## Performances

**Pinocchio** exploits, at best, the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, **Pinocchio** can 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.
**Pinocchio** exploits, at best, the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, **Pinocchio** can unroll most of the computations directly at compile time, allowing to achieve impressive performances for an extensive range of robots, as illustrated by the plot below, obtained on a standard laptop equipped with an Intel Core i7 CPU @ 2.4 GHz.

<p align="center">
<img src="https://raw.githubusercontent.com/stack-of-tasks/pinocchio/master/doc/images/pinocchio-performances.png" width="600" alt="Pinocchio Logo" align="center"/>
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## Ongoing developments

If you want to follow the current developments, you can directly refer to the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel).
The [master branch](https://github.com/stack-of-tasks/pinocchio/tree/master/) only contains the latest release. Any new Pull Request should then be submitted on the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel/).
If you want to follow the current developments, you can refer to the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel).
The [master branch](https://github.com/stack-of-tasks/pinocchio/tree/master/) only contains the latest release. Any new Pull Request should be submitted on the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel/).

## Installation

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## Citing specific algorithmic contributions

**Pinocchio** goes beyond implementing the standard rigid-body dynamics algorithms and results from active research on simulation, learning and control.
**Pinocchio** goes beyond implementing the standard rigid-body dynamics algorithms and results from active research on simulation, learning, and control.
**Pinocchio** provides state-of-the-art algorithms for handling constraints, differentiating forward and inverse dynamics, etc.
If you use these algorithms, please consider citing them in your research articles.

Expand All @@ -239,9 +239,9 @@ If you use these algorithms, please consider citing them in your research articl
- Montaut, L., Le Lidec, Q., Petrik, V., Sivic, J., & Carpentier, J. (2024). [GJK++: Leveraging Acceleration Methods for Faster Collision Detection](https://hal.science/hal-04070039/). IEEE Transactions on Robotics.
- Sathya, A., & Carpentier, J. (2024). [Constrained Articulated Body Dynamics Algorithms](https://hal.science/hal-04443056/). IEEE Transactions on Robotics.
- Montaut, L., Le Lidec, Q., Bambade, A., Petrik, V., Sivic, J., & Carpentier, J. (2023, May). [Differentiable collision detection: a randomized smoothing approach](https://hal.science/hal-03780482/). In 2023 IEEE International Conference on Robotics and Automation (ICRA).
- Montaut, L., Le Lidec, Q., Petrik, V., Sivic, J., & Carpentier, J. (2022, June). [Collision Detection Accelerated: An Optimization Perspective](https://hal.science/hal-03662157/). In Robotics: Science and Systems (RSS 2O22).
- Montaut, L., Le Lidec, Q., Petrik, V., Sivic, J., & Carpentier, J. (2022, June). [Collision Detection Accelerated: An Optimization Perspective](https://hal.science/hal-03662157/). In Robotics: Science and Systems (RSS 2022).
- Carpentier, J., Budhiraja, R., & Mansard, N. (2021, July). [Proximal and sparse resolution of constrained dynamic equations](https://hal.science/hal-03271811/). In Robotics: Science and Systems (RSS 2021).
- Carpentier, J., & Mansard, N. (2018, June). [Analytical derivatives of rigid body dynamics algorithms](https://hal.science/hal-01790971/). In Robotics: Science and systems (RSS 2018).
- Carpentier, J., & Mansard, N. (2018, June). [Analytical derivatives of rigid body dynamics algorithms](https://hal.science/hal-01790971/). In Robotics: Science and Systems (RSS 2018).

## Questions and Issues

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- [Justin Carpentier](https://jcarpent.github.io) (Inria): main developer and manager of the project
- [Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): initial project instructor
- [Guilhem Saurel](http://projects.laas.fr/gepetto/index.php/Members/GuilhemSaurel) (LAAS-CNRS): continuous integration and deployment
- [Joseph Mirabel](http://jmirabel.github.io/) (Eureka Robotics): Lie groups and hpp-fcl implementation
- [Joseph Mirabel](http://jmirabel.github.io/) (Eureka Robotics): Lie groups and hpp-fcl support
- [Antonio El Khoury](https://www.linkedin.com/in/antonioelkhoury) (Wandercraft): bug fixes
- [Gabriele Buondono](http://projects.laas.fr/gepetto/index.php/Members/GabrieleBuondonno) (LAAS-CNRS): features extension, bug fixes, and Python bindings
- [Florian Valenza](https://fr.linkedin.com/in/florian-valenza-1b274082) (Astek): core developments and hpp-fcl support
- [Wolfgang Merkt](http://www.wolfgangmerkt.com/) (University of Oxford): ROS integration and support
- [Rohan Budhiraja](https://scholar.google.com/citations?user=NW9Io9AAAAAJ) (LAAS-CNRS): features extension
- [Rohan Budhiraja](https://scholar.google.com/citations?user=NW9Io9AAAAAJ) (Inria/LAAS-CNRS): features extension
- [Loïc Estève](https://github.com/lesteve) (Inria): Conda integration and support
- [Igor Kalevatykh](https://github.com/ikalevatykh) (Inria): Panda3d viewer support
- [Matthieu Vigne](https://github.com/matthieuvigne) (Wandercraft): MeshCat viewer support
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