Porting from Pinocchio 2 to 3

Contents

This section describes how to port your code from the Pinocchio 2 to Pinocchio 3.

C++ changes

All Pinocchio 2 deprecated functions had been removed.

The following functions and headers have been renamed or moved:

• Replace pinocchio::BiasZeroTpl by pinocchio::MotionZeroTpl
• Replace pinocchio::fusion::JointVisitorBase by pinocchio::fusion::JointUnaryVisitorBase
• Replace pinocchio::fusion::push_front by pinocchio::fusion::append
• Replace pinocchio::regressor::computeStaticRegressor by pinocchio::computeStaticRegressor
• Replace pinocchio::jointJacobian by pinocchio::computeJointJacobian
• Replace pinocchio::frameJacobian by pinocchio::computeFrameJacobian
• Replace pinocchio::framesForwardKinematics by pinocchio::updateFramePlacements
• Replace pinocchio::kineticEnergy by pinocchio::computeKineticEnergy
• Replace pinocchio::potentialEnergy by pinocchio::computePotentialEnergy
• Replace pinocchio::computeCentroidalDynamics by pinocchio::computeCentroidalMomentum and pinocchio::computeCentroidalMomentumTimeVariation
• Replace pinocchio::centerOfMass(const ModelTpl&, DataTpl&, int, bool) by pinocchio::centerOfMass(const ModelTpl&, DataTpl&, KinematicLevel, bool)
• Replace pinocchio::copy(const ModelTpl&, const DataTpl&, DataTpl&, int) by pinocchio::copy(const ModelTpl&, const DataTpl&, DataTpl&, KinematicLevel)
• Replace pinocchio/algorithm/dynamics.hpp by pinocchio/algorithm/constrained-dynamics.hpp
• Change the order of arguments in some of pinocchio::GeometryObject's constructors

If the compiler complains about missing pinocchio::computeDistances or pinocchio::computeCollisions function you can either:

• Include the right headers:
  • pinocchio/collision/collision.hpp
  • pinocchio/collision/distance.hpp
• Define PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2 when building your project

The following functions have been removed:

• Remove pinocchio::setGeometryMeshScales
• Remove some pinocchio::forwardDynamics signatures
• Remove some pinocchio::impulseDynamics signatures

The following functions and headers are now deprecated:

• Deprecate pinocchio/algorithm/parallel/geometry.hpp moved at pinocchio/collision/parallel/geometry.hpp
• Deprecate pinocchio/spatial/fcl-pinocchio-conversions.hpp moved at pinocchio/collision/fcl-pinocchio-conversions.hpp
• Deprecate pinocchio/parsers/sample-models.hpp moved at pinocchio/multibody/sample-models.hpp
• Deprecate pinocchio/math/cppad.hpp moved at pinocchio/autodiff/cppad.hpp
• Deprecate pinocchio/math/cppadcg.hpp moved at pinocchio/autodiff/cppadcg.hpp
• Deprecate pinocchio/math/casadi.hpp moved at pinocchio/autodiff/casadi.hpp
• Deprecate pinocchio::FrameTpl::parent replaced by pinocchio::FrameTpl::parentJoint
• Deprecate pinocchio::FrameTpl::previousFrame replaced by pinocchio::FrameTpl::parentFrame
• Deprecate pinocchio/algorithm/contact-dynamics.hpp algorithms replaced by pinocchio/algorithm/constrained-dynamics.hpp

CMake targets

Pinocchio 3 has been split into multiple CMake targets:

• pinocchio: Link against all available Pinocchio libraries
• pinocchio_headers: Link against Pinocchio header only core library
• pinocchio_double: Link against Pinocchio core library explicitly template instantiated for double scalar type
• pinocchio_casadi: Link against Pinocchio core library explicitly template instantiated for casadi scalar type
• pinocchio_cppad: Link against Pinocchio core library explicitly template instantiated for cppad scalar type
• pinocchio_cppadcg: Link against Pinocchio core library explicitly template instantiated for cppadcg scalar type
• pinocchio_parsers: Link against Pinocchio parsers library
• pinocchio_parallel: Link against Pinocchio parallel algorithms library
• pinocchio_collision: Link against Pinocchio collision library
• pinocchio_collision_parallel: Link against Pinocchio collision parallel algorithms library
• pinocchio_extra: Link against Pinocchio extra algorithms library

Python changes

All Pinocchio 2 deprecated functions had been removed.

The following functions have been renamed or moved:

• Replace pinocchio.utils.skew by pinocchio.skew
• Replace pinocchio.utils.se3ToXYZQUAT by pinocchio.SE3ToXYZQUATtuple
• Replace pinocchio.utils.XYZQUATToSe3 by pinocchio.XYZQUATToSE3
• Replace pinocchio.robot_wrapper.RobotWrapper.frameClassicAcceleration by pinocchio.robot_wrapper.RobotWrapper.frameClassicalAcceleration
• Replace pinocchio.robot_wrapper.RobotWrapper.jointJacobian by pinocchio.robot_wrapper.RobotWrapper.computeJointJacobian
• Replace pinocchio.robot_wrapper.RobotWrapper.frameJacobian by pinocchio.robot_wrapper.RobotWrapper.computeFrameJacobian
• Replace pinocchio.robot_wrapper.RobotWrapper.initDisplay by pinocchio.robot_wrapper.RobotWrapper.initViewer
• Replace pinocchio.robot_wrapper.RobotWrapper.loadDisplayModel by pinocchio.robot_wrapper.RobotWrapper.loadViewerModel
• Replace pinocchio.deprecated.se3ToXYZQUATtuple by pinocchio.SE3ToXYZQUATtuple
• Replace pinocchio.deprecated.se3ToXYZQUAT by pinocchio.SE3ToXYZQUAT
• Replace pinocchio.deprecated.XYZQUATToSe3 by pinocchio.XYZQUATToSE3
• Replace pinocchio.deprecated.buildGeomFromUrdf(model, filename, [str]) by pinocchio.buildGeomFromUrdf(model, filename, type, package_dirs, mesh_loader)
• Replace pinocchio.rpy.npToTTuple by pinocchio.utils.npToTTuple
• Replace pinocchio.rpy.npToTuple by pinocchio.utils.npToTuple
• Replace pinocchio.jacobianSubtreeCoMJacobian by pinocchio.jacobianSubtreeCenterOfMass

The following functions have been removed:

• Remove pinocchio.utils.cross
• Remove pinocchio.robot_wrapper.RobotWrapper.initMeshcatDisplay
• Remove pinocchio.deprecated.setGeometryMeshScales by pinocchio

Porting from Pinocchio 1.3.3 to 2.0.0

What is included

This section describes how to port your code from the latest Pinocchio 1 release (1.3.3) to 2.0.

Note that this section does not cover API changes that were made before Pinocchio 1.3.3. Therefore, if you are still using an older version of Pinocchio 1, it is recommended that before you switch to 2.0 you should upgrade to 1.3.3 and make sure everything still works. In particular, remove all calls to deprecated methods and replace them appropriately.

The vast majority of the changes took place in C++.

Changes in C++

Although the class system was heavily re-worked, it should not make a lot of difference from the user's point of view. Relevant changes are listed below.

Header-only

Pinocchio is now fully header-only. This means you do not have to link to the Pinocchio library when compiling your code. On the other hand, you might need to link to additional system libraries.

Namespace

The most important change is the namespace. Now, the top-level Pinocchio namespace is not se3 anymore, but pinocchio.

Therefore, all occurrences of se3 in your code should be replaced by pinocchio.

If you feel like "pinocchio" is too long to type but you do not want to employ using namespace pinocchio, you can use

namespace pin = pinocchio;

Your code will not compile if you try to use namespace se3. In order to make it work, you need to compile it with the following flag

-DPINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1

Deprecated macros

The following marcos are not employed anymore

WITH_HPP_FCL
WITH_URDFDOM
WITH_LUA5

in favor of

PINOCCHIO_WITH_HPP_FCL
PINOCCHIO_WITH_URDFDOM
PINOCCHIO_WITH_LUA5

Therefore, you now need to issue the new macros in your compilation commands.

If you are using them in your code, in order to make them work, you can do

-DPINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1

Method signatures

Many methods which were taking a ReferenceFrame = {WORLD/LOCAL} enum as template parameter, such as getJointJacobian, are now deprecated. The reference frame is now passed as an input. For instance, you should switch from

getJointJacobian<LOCAL>(model,data,jointId,J);

to

getJointJacobian(model,data,jointId,LOCAL,J);

Notice that in principle your old code will still work, but you will get deprecation warnings.

Changes in Python

Changes in Python are relatively minor.

Namespace

No real changes took place, but you are encouraged to stop using the idiom import pinocchio as se3.

From now on, the recommended practice is import pinocchio as pin.

RobotWrapper

The constructor signature has changed from

__init__(self, filename, package_dirs=None, root_joint=None, verbose=False)

to

__init__(self, model = pin.Model(), collision_model = None, visual_model = None, verbose=False)

so that a model can be directly provided without the need of resorting to URDF. To recover the previous construction technique, you can use the static method

RobotWrapper.BuildFromURDF(filename, package_dirs=None, root_joint=None, verbose=False)

Also, the signature

jointJacobian(self, q, index, update_kinematics=True, local_frame=True)

was changed to

jointJacobian(self, q, index, rf_frame=pin.ReferenceFrame.LOCAL, update_kinematics=True)

which should not change anything if you were only ever calling it with two arguments.