pinocchio: Rolling
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CHANGELOG
Changelog
Unreleased
3.9.0 - 2026-01-05
3.8.0 - 2025-09-17
3.7.0 - 2025-05-21
3.6.0 - 2025-04-28
3.5.0 - 2025-04-02
3.4.0 - 2025-02-12
3.3.1 - 2024-12-13
3.3.0 - 2024-11-06
3.2.0 - 2024-08-27
3.1.0 - 2024-07-04
3.0.0 - 2024-05-27
2.7.1 - 2024-04-26
2.7.0 - 2024-01-23
2.6.21 - 2023-11-27
2.6.20 - 2023-08-09
2.6.19 - 2023-06-19
2.6.18 - 2023-04-29
2.6.17 - 2023-02-15
2.6.16 - 2023-02-02
2.6.15 - 2023-01-31
2.6.14 - 2023-01-13
2.6.13 - 2023-01-12
2.6.12 - 2022-11-06
2.6.11 - 2022-10-25
2.6.10 - 2022-09-14
2.6.9 - 2022-08-12
2.6.8 - 2022-06-06
2.6.7 - 2022-05-03
2.6.6 - 2022-03-22
2.6.5 - 2022-02-14
2.6.4 - 2021-11-02
2.6.3 - 2021-07-27
2.6.2 - 2021-07-05
2.6.1 - 2021-06-08
2.6.0 - 2021-04-11
2.5.6 - 2021-01-23
2.5.5 - 2021-01-07
2.5.4 - 2020-11-26
2.5.3 - 2020-11-13
2.5.2 - 2020-11-02
2.5.1 - 2020-10-12
2.5.0 - 2020-08-31
2.4.7 - 2020-07-20
2.4.6 - 2020-06-15
2.4.5 - 2020-05-23
2.4.4 - 2020-05-13
2.4.3 - 2020-04-24
2.4.2 - 2020-04-21
2.4.1 - 2020-04-15
2.4.0 - 2020-04-09
2.3.1 - 2020-02-20
2.3.0 - 2020-02-18
2.2.3 - 2019-12-30
2.2.2 - 2019-12-11
2.2.1 - 2019-11-25
2.2.0 - 2019-11-25
2.1.11 - 2019-10-27
2.1.10 - 2019-10-25
2.1.9 - 2019-10-09
2.1.8 - 2019-09-30
2.1.7 - 2019-09-10
2.1.6 - 2019-08-05
2.1.5 - 2019-07-16
2.1.4 - 2019-06-22
2.1.3 - 2019-04-30
2.1.2 - 2019-04-05
2.1.1 - 2019-03-27
2.1.0 - 2019-02-27
2.0.0 - 2019-01-11
1.3.3 - 2018-10-29
1.3.2 - 2018-10-26
1.3.1 - 2018-09-25
1.3.0 - 2018-08-28
1.2.9 - 2018-06-01
1.2.8 - 2018-05-18
1.2.7 - 2018-04-03
1.2.6 - 2018-01-15
1.2.5 - 2017-10-10
1.2.4 - 2017-06-09
1.2.3 - 2017-02-14
1.2.1 - 2016-10-17
1.2.0 - 2016-09-29
1.1.2 - 2016-05-31
1.1.0 - 2016-02-04
1.0.2 - 2015-09-14
1.0.0 - 2015-04-03
PACKAGE
LICENSE
ROS Package Dependencies
ros_environment
urdfdom
eigenpy
hpp-fcl
Documentation
Overview {#index}
Porting from Pinocchio 2 to 3
Porting from Pinocchio 1.3.3 to 2.0.0
d-practical-exercises/
1) Move your body (aka direct geometry) {#md_doc_d-practical-exercises_1-directgeom}
2) Grasp an object (aka inverse Geometry) {#md_doc_d-practical-exercises_2-invgeom}
3) Drag and Drop (aka Inverse kinematics) {#md_doc_d-practical-exercises_3-invkine}
4) Snap your fingers (aka direct and inverse dynamics) {#md_doc_d-practical-exercises_4-dyn}
5) Look ahead (aka motion planning) {#md_doc_d-practical-exercises_5-planner}
6) Take a walk (aka optimal control) {#md_doc_d-practical-exercises_6-wpg}
7) Learning to fly (aka policy learning) {#md_doc_d-practical-exercises_7-learn}
Practical Exercises {#md_doc_d-practical-exercises_intro}
b-examples/
Loading the model {#md_doc_b-examples_a-model}
Geometry models {#md_doc_b-examples_ab-geometry-models}
Load and display a model {#md_doc_b-examples_b-display}
Collision detection and distances {#md_doc_b-examples_c-collisions}
Inverse kinematics (clik) {#md_doc_b-examples_d-inverse-kinematics}
Build reduced model {#md_doc_b-examples_e-reduced-model}
Update model after loading its URDF {#md_doc_b-examples_f-update-model}
Examples {#md_doc_b-examples_intro}
b-examples/display/
Display a model using GepettoViewer {#md_doc_b-examples_display_a-gepetto-viewer}
Display a model using Meshcat {#md_doc_b-examples_display_b-meshcat-viewer}
Display a model using RobotWrapper {#md_doc_b-examples_display_c-robot-wrapper-viewer}
e-development/
How to implement a new joint in Pinocchio {#md_doc_e-dev_impl-new-joint}
Development {#md_doc_e-dev_intro}
c-maths/
Rigid Bodies {#md_doc_c-maths_a-rigid-bodies}
Joint dynamics {#md_doc_c-maths_b-joints}
Mathematical formulation {#md_doc_c-maths_intro}
CheatSheet: SE(3) operations {#md_doc_c-maths_se3}
a-features/
Spatial algebra {#md_doc_a-features_a-spatial}
Model and data {#md_doc_a-features_b-model-data}
Joints {#md_doc_a-features_c-joints}
Geometric and collision models {#md_doc_a-features_d-model}
Dealing with Lie-group geometry {#md_doc_a-features_e-lie}
Kinematics algorithms {#md_doc_a-features_f-kinematic}
Dynamics algorithms {#md_doc_a-features_g-dynamic}
Operational frames {#md_doc_a-features_h-frames}
Feature {#md_doc_a-features_intro}
Analytical derivatives {#md_doc_a-features_j-analytical-derivatives}
Automatic differentiation and source code generation {#md_doc_a-features_k-automatic-differentiation}
Python bindings {#md_doc_a-features_l-python}
Unit tests {#md_doc_a-features_m-tests}
Index
pinocchio: Rolling
Documentation
b-examples/
Geometry models {#md_doc_b-examples_ab-geometry-models}
View page source
Geometry models {#md_doc_b-examples_ab-geometry-models}
Python
\include geometry-models.py
C++
\include geometry-models.cpp