pinocchio-js 1.0.1

package/LICENSE

@@ -0,0 +1,25 @@
+BSD 2-Clause License
+
+Copyright (c) 2024, Pinocchio Authors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

package/README.md

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+# Pinocchio WASM
+
+Pinocchio WASM is a port of the [Pinocchio](https://github.com/stack-of-tasks/pinocchio) rigid body dynamics library to WebAssembly, enabling high-performance robot dynamics in the browser and Node.js.
+
+## Features
+
+-   **Core Algorithms:** RNEA (Inverse Dynamics), Forward Kinematics, Center of Mass, Jacobian.
+-   **URDF Parsing:** Custom JavaScript parser ensuring compatibility with Pinocchio's model structure.
+-   **Cross-Platform:** Runs in Browsers (Chrome, Firefox, Safari) and Node.js.
+-   **Lightweight:** ~600KB (gzipped) WASM binary.
+-   **Zero-Dependency Runtime:** No external logical dependencies for the basic WASM module (excluding the optional URDF parser).
+
+## Installation
+
+Currently, you can build from source or use the provided artifacts.
+
+### Prerequisites for Building
+
+1.  **Emscripten SDK (emsdk):** Required for compiling C++ to WASM.
+    ```bash
+    git clone https://github.com/emscripten-core/emsdk.git
+    cd emsdk
+    ./emsdk install latest
+    ./emsdk activate latest
+    source ./emsdk_env.sh
+    ```
+2.  **CMake:** Version 3.10 or higher.
+3.  **Python 3:** For build scripts.
+
+## Building from Source
+
+We provide a one-step build script `build.sh`.
+
+```bash
+./build.sh
+```
+
+This will:
+1.  Download dependencies (Pinocchio, Eigen3, Boost headers) automatically.
+2.  Configure the project with `emcmake`.
+3.  Compile to `build/pinocchio.js` and `build/pinocchio.wasm`.
+
+## Usage
+
+### 1. Browser
+
+Serve the project root:
+```bash
+python3 -m http.server 8080
+```
+Open `http://localhost:8080/tests/browser/index.html`.
+
+### 2. Node.js
+
+Install the XML DOM polyfill (required for URDF parsing in Node):
+```bash
+npm install
+```
+
+Run the smoke test:
+```bash
+npm run test:smoke
+```
+
+## API Reference
+
+### `pin.Model`
+-   `nq`, `nv`, `njoints`: System dimensions.
+-   `addJoint(...)`: Adds a joint (Internal use).
+
+### `pin.Data`
+-   Constructed from `Model`.
+-   Stores scratchpad data (velocities, accelerations, forces).
+
+### Algorithms
+-   `pin.rnea(model, data, q, v, a)`: Recursive Newton-Euler Algorithm (Inverse Dynamics). Returns torques.
+-   `pin.forwardKinematics(model, data, q)`: Updates joint placements.
+-   `pin.centerOfMass(model, data, q)`: Computes CoM position.
+-   `pin.computeTotalMass(model)`: Returns total mass.
+
+### URDF Parser (`src/urdf-parser.mjs`)
+-   `parseURDF(xmlString)`: Parses raw XML into intermediate JS object.
+-   `buildPinocchioModel(pin, urdfData)`: Converts intermediate object to `pin.Model`.
+    *   **Note:** Implements "Fixed Joint Reduction". Fixed joints in URDF are fused into their parent joints to ensure numerical stability and correct behavior in Pinocchio.
+
+## Testing
+
+Run the full test suite (Node.js required):
+
+```bash
+npm test
+```
+
+This runs:
+-   Math tests (SE3, Inertia)
+-   Model tests (Joint creation)
+-   Algo tests (RNEA, COM)
+-   URDF tests (Loading real robot descriptions)
+
+## Contributing
+
+1.  Fork the repository.
+2.  Run `npm install` and `./build.sh` to ensure clean environment.
+3.  Add tests for new features in `tests/`.
+4.  Submit a Pull Request.
+
+## License
+
+BSD-2-Clause

package/build/pinocchio.js

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+;return moduleRtn}})();if(typeof exports==="object"&&typeof module==="object"){module.exports=PinocchioModule;module.exports.default=PinocchioModule}else if(typeof define==="function"&&define["amd"])define([],()=>PinocchioModule);

package/package.json

@@ -0,0 +1,46 @@
+{
+  "name": "pinocchio-js",
+  "version": "1.0.1",
+  "description": "High-performance WebAssembly bindings for the Pinocchio rigid body dynamics library",
+  "keywords": [
+    "pinocchio",
+    "wasm",
+    "webassembly",
+    "robotics",
+    "dynamics",
+    "kinematics",
+    "rigid-body-dynamics",
+    "physics-engine"
+  ],
+  "main": "build/pinocchio.js",
+  "files": [
+    "build/pinocchio.js",
+    "build/pinocchio.wasm",
+    "src/urdf-parser.mjs",
+    "README.md",
+    "LICENSE"
+  ],
+  "scripts": {
+    "test": "node tests/runner.js",
+    "test:smoke": "node tests/smoke_test.js"
+  },
+  "dependencies": {
+    "xmldom": "^0.6.0"
+  },
+  "type": "commonjs",
+  "directories": {
+    "example": "examples",
+    "test": "tests"
+  },
+  "devDependencies": {},
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/Mostafasaad1/pinocchio-js.git"
+  },
+  "author": "Mostafa Saad",
+  "license": "BSD-2-Clause",
+  "bugs": {
+    "url": "https://github.com/Mostafasaad1/pinocchio-js/issues"
+  },
+  "homepage": "https://github.com/Mostafasaad1/pinocchio-js#readme"
+}

package/src/urdf-parser.mjs

@@ -0,0 +1,358 @@
+/**
+ * ──────────────────────────────────────────────────────────────
+ * Pinocchio WASM — URDF Parser
+ * Parses URDF XML using browser's DOMParser and builds a
+ * Pinocchio model via the Embind API.
+ * ──────────────────────────────────────────────────────────────
+ */
+
+/**
+ * Parse a URDF XML string into a structured JavaScript object.
+ *
+ * @param {string} urdfString - The URDF XML content
+ * @returns {{ links: Object[], joints: Object[], rootLink: string }}
+ */
+export function parseURDF(urdfString) {
+    const parser = new DOMParser();
+    const doc = parser.parseFromString(urdfString, 'text/xml');
+
+    const errors = doc.getElementsByTagName('parsererror');
+    if (errors.length > 0) {
+        throw new Error(`URDF parse error: ${errors[0].textContent}`);
+    }
+
+    const robots = doc.getElementsByTagName('robot');
+    if (robots.length === 0) throw new Error('No <robot> element found in URDF');
+    const robot = robots[0];
+
+    const robotName = robot.getAttribute('name') || 'unnamed';
+
+    // ── Parse links ──
+    const links = {};
+    const linkNodes = Array.from(robot.getElementsByTagName('link'));
+    for (const linkEl of linkNodes) {
+        const name = linkEl.getAttribute('name');
+        const link = { name, mass: 0, com: [0, 0, 0], inertia: [0, 0, 0, 0, 0, 0] };
+
+        const inertialNodes = linkEl.getElementsByTagName('inertial');
+        if (inertialNodes.length > 0) {
+            const inertialEl = inertialNodes[0];
+            // Mass
+            const massNodes = inertialEl.getElementsByTagName('mass');
+            if (massNodes.length > 0) {
+                link.mass = parseFloat(massNodes[0].getAttribute('value')) || 0;
+            }
+
+            // Center of mass origin
+            const originNodes = inertialEl.getElementsByTagName('origin');
+            if (originNodes.length > 0) {
+                link.com = parseXyz(originNodes[0]);
+            }
+
+            // Inertia tensor (6 unique elements)
+            const inertiaNodes = inertialEl.getElementsByTagName('inertia');
+            if (inertiaNodes.length > 0) {
+                const inertiaEl = inertiaNodes[0];
+                link.inertia = [
+                    parseFloat(inertiaEl.getAttribute('ixx')) || 0,
+                    parseFloat(inertiaEl.getAttribute('ixy')) || 0,
+                    parseFloat(inertiaEl.getAttribute('ixz')) || 0,
+                    parseFloat(inertiaEl.getAttribute('iyy')) || 0,
+                    parseFloat(inertiaEl.getAttribute('iyz')) || 0,
+                    parseFloat(inertiaEl.getAttribute('izz')) || 0,
+                ];
+            }
+        }
+
+        links[name] = link;
+    }
+
+    // ── Parse joints ──
+    const joints = [];
+    const childToJoint = {};  // child_link_name → joint
+
+    const jointNodes = Array.from(robot.getElementsByTagName('joint'));
+    for (const jointEl of jointNodes) {
+        const joint = {
+            name: jointEl.getAttribute('name'),
+            type: jointEl.getAttribute('type'),
+            parentLink: '',
+            childLink: '',
+            origin: { xyz: [0, 0, 0], rpy: [0, 0, 0] },
+            axis: [0, 0, 1],  // default Z axis
+            limits: { lower: 0, upper: 0, effort: 0, velocity: 0 }
+        };
+
+        const parentNodes = jointEl.getElementsByTagName('parent');
+        if (parentNodes.length > 0) joint.parentLink = parentNodes[0].getAttribute('link');
+
+        const childNodes = jointEl.getElementsByTagName('child');
+        if (childNodes.length > 0) joint.childLink = childNodes[0].getAttribute('link');
+
+        const originNodes = jointEl.getElementsByTagName('origin');
+        if (originNodes.length > 0) {
+            joint.origin.xyz = parseXyz(originNodes[0]);
+            joint.origin.rpy = parseRpy(originNodes[0]);
+        }
+
+        const axisNodes = jointEl.getElementsByTagName('axis');
+        if (axisNodes.length > 0) {
+            joint.axis = parseXyz(axisNodes[0]);
+        }
+
+        const limitNodes = jointEl.getElementsByTagName('limit');
+        if (limitNodes.length > 0) {
+            const limitEl = limitNodes[0];
+            joint.limits.lower = parseFloat(limitEl.getAttribute('lower')) || 0;
+            joint.limits.upper = parseFloat(limitEl.getAttribute('upper')) || 0;
+            joint.limits.effort = parseFloat(limitEl.getAttribute('effort')) || 0;
+            joint.limits.velocity = parseFloat(limitEl.getAttribute('velocity')) || 0;
+        }
+
+        joints.push(joint);
+        childToJoint[joint.childLink] = joint;
+    }
+
+    // ── Find root link (a link that is never a child) ──
+    const childLinks = new Set(joints.map(j => j.childLink));
+    const rootLink = Object.keys(links).find(name => !childLinks.has(name)) || '';
+
+    return { robotName, links, joints, rootLink };
+}
+
+
+/**
+ * Build a Pinocchio Model from parsed URDF data.
+ *
+ * Implements "Fixed Joint Reduction" in JavaScript:
+ * URDF Fixed joints are NOT added to the Pinocchio model as joints.
+ * Instead, their kinematic transformation is composed into the placement
+ * of the child link (and its subsequent children).
+ *
+ * @param {Object} pin - The Pinocchio WASM module
+ * @param {Object} urdfData - Output of parseURDF()
+ * @returns {Object} The constructed Pinocchio Model
+ */
+export function buildPinocchioModel(pin, urdfData) {
+    const { links, joints, rootLink } = urdfData;
+    const model = new pin.Model();
+
+    // Map link names → Pinocchio parent joint ID
+    // For fixed joints, the child link shares the same parent joint ID as its parent link.
+    const linkToParentJointId = {};
+    linkToParentJointId[rootLink] = 0; // Universe
+
+    // Map link names → SE3 transform relative to the parent joint frame
+    // For moving joints, this resets to Identity for the child (since the joint defines the frame).
+    // For fixed joints, this accumulates the offset.
+    const linkToJointTransform = {};
+    linkToJointTransform[rootLink] = createIdentityTransform();
+
+    // BFS Queue
+    const queue = [rootLink];
+    const visited = new Set([rootLink]);
+
+    while (queue.length > 0) {
+        const parentLinkName = queue.shift();
+        const parentJointId = linkToParentJointId[parentLinkName];
+
+        // Transform of the parent link frame relative to the parent joint frame
+        const parentOffset = linkToJointTransform[parentLinkName] || createIdentityTransform();
+
+        // Find all child joints
+        const childJoints = joints.filter(j => j.parentLink === parentLinkName);
+
+        for (const joint of childJoints) {
+            if (visited.has(joint.childLink)) continue;
+            // console.log(`Processing joint: ${joint.name} (type: ${joint.type})`);
+            visited.add(joint.childLink);
+
+            // 1. Calculate absolute placement of this joint/link relative to the PARENT JOINT frame
+            // T_child = T_parent_offset * T_joint_origin
+            const jointOrigin = createTransformFromXyzRpy(joint.origin.xyz, joint.origin.rpy);
+            const placement = composeTransforms(parentOffset, jointOrigin);
+
+            // 2. Handle Joint Type
+            if (joint.type === 'fixed') {
+                // REDUCTION: Do NOT add a Pinocchio joint.
+                // The child link is rigidly attached to the parent joint.
+                // We propagate the placement validation.
+
+                linkToParentJointId[joint.childLink] = parentJointId;
+                linkToJointTransform[joint.childLink] = placement;
+
+                // Add inertia to the parent joint (transformed by placement)
+                addBodyInertia(pin, model, links[joint.childLink], parentJointId, placement);
+
+            } else {
+                // MOVING JOINT: Add a real joint to Pinocchio
+
+                // Convert JS transform to Pinocchio SE3 object
+                const placementSE3 = toPinocchioSE3(pin, placement);
+                const jointModel = createJointModel(pin, joint.type, joint.axis);
+
+                let jointId;
+                if (joint.limits.effort > 0 || joint.limits.velocity > 0) {
+                    const nq = (joint.type === 'floating') ? 7 : 1;
+                    const nv = (joint.type === 'floating') ? 6 : 1;
+                    jointId = pin.addJointWithLimits(
+                        model, parentJointId, jointModel, placementSE3, joint.name,
+                        new Float64Array(nv).fill(joint.limits.effort),
+                        new Float64Array(nv).fill(joint.limits.velocity),
+                        new Float64Array(nq).fill(joint.limits.lower),
+                        new Float64Array(nq).fill(joint.limits.upper)
+                    );
+                } else {
+                    jointId = pin.addJoint(model, parentJointId, jointModel, placementSE3, joint.name);
+                }
+
+                // Register new joint
+                linkToParentJointId[joint.childLink] = jointId;
+                // The new link frame is the new joint frame (Identity offset)
+                linkToJointTransform[joint.childLink] = createIdentityTransform();
+
+                // Add inertia to the NEW joint (Identity placement)
+                addBodyInertia(pin, model, links[joint.childLink], jointId, createIdentityTransform());
+            }
+
+            queue.push(joint.childLink);
+        }
+    }
+
+    return model;
+}
+
+// ─── Internal Helpers: Physics ───────────────────────────────
+
+function addBodyInertia(pin, model, linkData, jointId, transform) {
+    if (!linkData || linkData.mass <= 0) return;
+
+    // Construct Pinocchio Inertia object
+    const inertia = pin.Inertia.fromMassComInertia(
+        linkData.mass,
+        linkData.com,
+        linkData.inertia
+    );
+
+    // Convert JS transform to Pinocchio SE3
+    const placement = toPinocchioSE3(pin, transform);
+
+    // Append (Pinocchio will use the placement to transform inertia to joint frame)
+    pin.appendBodyToJoint(model, jointId, inertia, placement);
+}
+
+
+// ─── Internal Helpers: Math (SE3 Composition) ────────────────
+
+function createIdentityTransform() {
+    return {
+        R: [1, 0, 0, 0, 1, 0, 0, 0, 1], // Row-major
+        t: [0, 0, 0]
+    };
+}
+
+function createTransformFromXyzRpy(xyz, rpy) {
+    const [x, y, z] = xyz;
+    const [roll, pitch, yaw] = rpy;
+
+    // ZYX Euler angles
+    const cr = Math.cos(roll), sr = Math.sin(roll);
+    const cp = Math.cos(pitch), sp = Math.sin(pitch);
+    const cy = Math.cos(yaw), sy = Math.sin(yaw);
+
+    // Row-major rotation matrix
+    const R = [
+        cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr,
+        sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr,
+        -sp, cp * sr, cp * cr
+    ];
+
+    return { R, t: [x, y, z] };
+}
+
+// Composition: T_AB = T_A * T_B
+// R_AB = R_A * R_B
+// t_AB = R_A * t_B + t_A
+function composeTransforms(T1, T2) {
+    const R1 = T1.R;
+    const R2 = T2.R;
+    const t1 = T1.t;
+    const t2 = T2.t;
+
+    // R = R1 * R2
+    const R = [
+        R1[0] * R2[0] + R1[1] * R2[3] + R1[2] * R2[6], R1[0] * R2[1] + R1[1] * R2[4] + R1[2] * R2[7], R1[0] * R2[2] + R1[1] * R2[5] + R1[2] * R2[8],
+        R1[3] * R2[0] + R1[4] * R2[3] + R1[5] * R2[6], R1[3] * R2[1] + R1[4] * R2[4] + R1[5] * R2[7], R1[3] * R2[2] + R1[4] * R2[5] + R1[5] * R2[8],
+        R1[6] * R2[0] + R1[7] * R2[3] + R1[8] * R2[6], R1[6] * R2[1] + R1[7] * R2[4] + R1[8] * R2[7], R1[6] * R2[2] + R1[7] * R2[5] + R1[8] * R2[8]
+    ];
+
+    // t = R1 * t2 + t1
+    const t = [
+        R1[0] * t2[0] + R1[1] * t2[1] + R1[2] * t2[2] + t1[0],
+        R1[3] * t2[0] + R1[4] * t2[1] + R1[5] * t2[2] + t1[1],
+        R1[6] * t2[0] + R1[7] * t2[1] + R1[8] * t2[2] + t1[2]
+    ];
+
+    return { R, t };
+}
+
+function toPinocchioSE3(pin, T) {
+    return pin.SE3.fromRotationTranslation(
+        new Float64Array(T.R),
+        new Float64Array(T.t)
+    );
+}
+
+/**
+ * Map URDF joint type + axis to a Pinocchio JointModel.
+ */
+function createJointModel(pin, type, axis) {
+    const [ax, ay, az] = axis;
+
+    switch (type) {
+        case 'revolute':
+        case 'continuous':
+            // Use aligned models when axis matches a principal direction
+            if (ax === 1 && ay === 0 && az === 0) return pin.JointModelRX();
+            if (ax === 0 && ay === 1 && az === 0) return pin.JointModelRY();
+            if (ax === 0 && ay === 0 && az === 1) return pin.JointModelRZ();
+            return pin.JointModelRevoluteUnaligned(ax, ay, az);
+
+        case 'prismatic':
+            if (ax === 1 && ay === 0 && az === 0) return pin.JointModelPX();
+            if (ax === 0 && ay === 1 && az === 0) return pin.JointModelPY();
+            if (ax === 0 && ay === 0 && az === 1) return pin.JointModelPZ();
+            return pin.JointModelPrismaticUnaligned(ax, ay, az);
+
+        case 'floating':
+            return pin.JointModelFreeFlyer();
+
+        case 'fixed':
+            // Should not happen with reduction logic, but if used directly:
+            return pin.JointModelFixed();
+
+        default:
+            console.warn(`Unknown joint type: ${type}, defaulting to revolute Z`);
+            return pin.JointModelRZ();
+    }
+}
+
+/**
+ * Parse xyz attribute from a URDF element.
+ * @returns {number[]} [x, y, z]
+ */
+function parseXyz(el) {
+    const xyz = el.getAttribute('xyz');
+    if (!xyz) return [0, 0, 0];
+    return xyz.trim().split(/\s+/).map(Number);
+}
+
+/**
+ * Parse rpy attribute from a URDF element.
+ * @returns {number[]} [roll, pitch, yaw]
+ */
+function parseRpy(el) {
+    const rpy = el.getAttribute('rpy');
+    if (!rpy) return [0, 0, 0];
+    return rpy.trim().split(/\s+/).map(Number);
+}