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[detail level 123]

Porting from Pinocchio 2 to 3
Feature
Spatial algebra
Model and data
Joints
Geometric and collision models
Dealing with Lie-group geometry
Kinematics algorithms
Dynamics algorithms
Operational frames
Analytical derivatives
Automatic differentiation and source code generation
Python bindings
Unit tests
Examples
Loading the model
Geometry models
Load and display a model
Display a model using GepettoViewer
Display a model using Meshcat
Display a model using RobotWrapper
Collision detection and distances
Inverse kinematics (clik)
Build reduced model
Update model after loading its URDF
Mathematical formulation
Rigid Bodies
Joint dynamics
CheatSheet: SE(3) operations
Practical Exercises
1) Move your body (aka direct geometry)
2) Grasp an object (aka inverse Geometry)
3) Drag and Drop (aka Inverse kinematics)
4) Snap your fingers (aka direct and inverse dynamics)
5) Look ahead (aka motion planning)
6) Take a walk (aka optimal control)
7) Learning to fly (aka policy learning)
Development
How to implement a new joint in Pinocchio
Deprecated List
Todo List
Cheat sheet