pinocchio: Rolling
Links
Rosindex
Website
Repository
C++ API
Pinocchio PyBind11 helpers
Page Hierarchy
Full C++ API
Namespaces
Classes and Structs
Enums
Functions
Variables
Defines
Typedefs
Directories
Files
Pages
Standard Documents
README
Table of contents
Pinocchio main features
Documentation
Examples
Tutorials
Pinocchio continuous integrations
Performances
Ongoing developments
Installation
Conda
Docker
ROS
Visualization
Citing Pinocchio
Citing specific algorithmic contributions
Questions and Issues
Core-dev team
Credits
Open-source projects relying on Pinocchio
Acknowledgments
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/
Collision detection and distances {#md_doc_b-examples_c-collisions}
View page source
Collision detection and distances {#md_doc_b-examples_c-collisions}
Python
\include collisions.py
C++
\include collisions.cpp