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[detail level 123]

Porting notes [external]
Serialization [external]
Porting from Pinocchio 2 to 3 [external]
Feature [external]
Spatial algebra [external]
Model and data [external]
Joints [external]
Geometric and collision models [external]
Dealing with Lie-group geometry [external]
Kinematics algorithms [external]
Dynamics algorithms [external]
Operational frames [external]
Analytical derivatives [external]
Automatic differentiation and source code generation [external]
Python bindings [external]
Unit tests [external]
Examples [external]
Loading the model [external]
Geometry models [external]
Load and display a model [external]
Display a model using GepettoViewer [external]
Display a model using Meshcat [external]
Display a model using RobotWrapper [external]
Collision detection and distances [external]
Inverse kinematics (clik) [external]
Build reduced model [external]
Update model after loading its URDF [external]
Mathematical formulation [external]
Rigid Bodies [external]
Joint dynamics [external]
CheatSheet: SE(3) operations [external]
Practical Exercises [external]
1) Move your body (aka direct geometry) [external]
2) Grasp an object (aka inverse Geometry) [external]
3) Drag and Drop (aka Inverse kinematics) [external]
4) Snap your fingers (aka direct and inverse dynamics) [external]
5) Look ahead (aka motion planning) [external]
6) Take a walk (aka optimal control) [external]
7) Learning to fly (aka policy learning) [external]
Development [external]
How to implement a new joint in Pinocchio [external]
ProxQP API with examples [external]
ProxQP solve function without API [external]
QPLayer [external]
Installation [external]
Todo List