From c0bbd6c74245a6f49089666d0205b9b1eb3437eb Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Thu, 13 Feb 2025 21:38:04 +0100 Subject: [PATCH] readme: fix --- README.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index cfe90497af..382dbbbd6f 100644 --- a/README.md +++ b/README.md @@ -98,7 +98,7 @@ or via pip (currently only available on Linux): **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 @@ -138,7 +138,7 @@ You can also consider the interactive Jupyter notebook [set of tutorials](https: ## 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.

Pinocchio Logo @@ -149,8 +149,8 @@ In addition, the [introspection](https://github.com/rbd-benchmarks/rbd-benchmark ## 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 @@ -230,7 +230,7 @@ And the following one for the link to the GitHub codebase: ## 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. @@ -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 @@ -254,12 +254,12 @@ The following people have been involved in the development of **Pinocchio** and - [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