Pinocchio: a C++ library for efficient Rigid Multi-body Dynamics computations

Pinocchio instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone’s algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.

Pinocchio is first tailored for robotics applications, but it can be used in extra contexts (biomechanics, computer graphics, vision, etc.). It is built upon Eigen for linear algebra and FCL for collision detection. Pinocchio comes with a Python interface for fast code prototyping.

Note

Beware that this only the python documentation. You can find the C++ documentation here

Table of Contents

• API Documentation
  • Algorithms
  • Frame
  • Model
  • Parsers
  • Visualize