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 was first tailored for robotics applications, but it can be used in other 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, directly accessible through Conda.

Pinocchio is now at the heart of various robotics software as Crocoddyl, an open-source and efficient Differential Dynamic Programming solver for robotics, the Stack-of-Tasks, an open-source and versatile hierarchical controller framework or the Humanoid Path Planner, open-source software for Motion and Manipulation Planning.

If you want to learn more about Pinocchio internal behaviors and main features, we invite you to read the related paper and the online documentation.

If you want to dive into Pinocchio directly, only one single line is sufficient (assuming you have Conda):

conda install pinocchio -c conda-forge

or via pip (currently only available on Linux):

pip install pin

Table of contents

• Pinocchio main features
• Documentation
• Examples
• Tutorials
• Performances
• Ongoing developments
• Visualization
• Citing Pinocchio
• Questions and Issues
• Credits
• Open-source projects relying on Pinocchio
• Acknowledgments

Pinocchio main features

Pinocchio is fast:

• C++ template library,
• cache friendly,
• automatic code generation support is available via CppADCodeGen.

Pinocchio is versatile, implementing basic and more advanced rigid body dynamics algorithms:

• forward kinematics and its analytical derivatives,
• forward/inverse dynamics and their analytical derivatives,
• centroidal dynamics and its analytical derivatives,
• support multiple precision arithmetic via Boost.Multiprecision or any similar framework,
• computations of kinematic and dynamic regressors for system identification and more,
• and much more with the support of modern and open-source Automatic Differentiation frameworks like CppAD or CasADi.

Pinocchio is flexible:

• header only,
• C++ 98/03/11/14/17/20 compliant.

Pinocchio is extensible. Pinocchio is multi-thread friendly. Pinocchio is reliable and extensively tested (unit-tests, simulations, and real-world robotics applications). Pinocchio is supported and tested on Windows, Mac OS X, Unix, and Linux (see build status here).

Documentation

The online Pinocchio documentation of the last release is available here. A cheat sheet pdf with the main functions and algorithms can be found here.

Examples

We provide some basic examples of using Pinocchio in Python in the examples directory. Additional examples introducing Pinocchio are also available in the documentation.

Tutorials

Pinocchio comes with a large bunch of tutorials aiming at introducing the basic tools for robot control. Tutorial and training documents are listed here. You can also consider the interactive Jupyter notebook set of tutorials developed by Nicolas Mansard and Yann de Mont-Marin.

Pinocchio continuous integrations

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

[Unreleased]

[2.7.1] - 2024-04-26

Changed

• Modify algorithm that appends a model to another (#2218)
• Set NOMINMAX as a public definitions on Windows (#2139)
• Improve documentation of enum ReferenceFrame (#2190)
• Improve documentation of getJointJacobian (#2193).

Fixed

• CMake now uses Relative Path instead of Absolute (#2202)
• Order of frames in ReducedModel is now the same as in the full model (#2160)
• Remove a lot of warnings (#2139)
• MeshcatVisualizer doesn’t crash anymore when there is no collision model defined (#2147)
• Fix MSVC build (#2155)
• Fix stub generation (#2166)
• Clean up empty documentation pages and sections (#2167)
• Fix SO(3) title and cross-section reference in the documentation (#2210)

Added

• Add examples/floating-base-velocity-viewer.py to visualize floating base velocity (#2143)
• Add remark to the documentation of getFrame(Classical)Acceleration functions (#2169)
• Allow use of installed jrl-cmakemodules (#2216)

[2.7.0] - 2024-01-23

Added

• Add GeometryObject::meshMaterial attribute (#2084)

Fixed

• Use bp::ssize_t for recent version of Windows compilers (#2102)
• Fix missing include for Boost >= 1.83 (#2103)
• Remove f-strings to fix install with python 2 (#2110)
• CMake: stop exporting CppAd/cppadcodegen & fetch submodule if not available (#2112)
• Fix malloc issue in CRBA algo (#2126)
• Fix build cppad and cppadcg with Boost < 1.77 (#2132)

[2.6.21] - 2023-11-27

Added

• Add inverse dynamics (rnea) Python and C++ example (#2083)
• Add visualization of Frames in MeshCat viewer (#2098)

Fixed

• Re-initialize Ycrb[0] in crbaMinimal (#2040)
• Fix custom scalar use in log function (#2047)
• Raise exception on wrong input size in XYZQUATToSE3 Python binding function (#2073)
• Remove memory leak in buildGeomFromUrdf and buildGeomFromUrdfString Python binding functions (#2082https://github.com/stack-of-tasks/pinocchio/pull/2082)
• Fix Panda3D viewer examples (#2087)
• Fix centroidal dynamics derivatives with respect to time (#2094))

Changed

• Rename freeflyer_joint to root_joint in humanoid sample model (#2043)
• CMake minimal version is now 3.10 (#2055)
• Split headers and sources in different directories to have a more standard C++ project (#2070)

Removed

• Remove support to hpp-fcl < v2.0.0 (#2086)

[2.6.20] - 2023-08-09

What’s Changed

• Fix support of recent versions of Boost for CppAD and CppADCodeGen by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/2000
• build(deps): bump ros-industrial/industrial_ci from afbf77f39db26785371161d5691ab435b31bb3ba to 1e0c5aff1147d50d58bf4185a55ff564c9b6e027 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/2007
• Enabled copy and deepcopy by @cmastalli in https://github.com/stack-of-tasks/pinocchio/pull/1882
• build(deps): bump ros-industrial/industrial_ci from afbf77f39db26785371161d5691ab435b31bb3ba to 9f963f67ebb889792175776c5ee00134d7bb569b by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/2013
• Sync submodule cmake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/2029

[2.6.19] - 2023-06-19

What’s Changed

• Add Motion::toHomogeneousMatrix by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1946
• The insatiable English teacher PR 🧙 by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1957
• require C++14 for Boost >= 1.81 by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1949
• CMake: an example require python 3 by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1966
• Fix IK example in the documentation by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1963
• Issue templates by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1971
• build(deps): bump ros-industrial/industrial_ci from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1976
• Enhance CMake packaging for Windows by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1984
• Documentation by @drewhamiltonasdf in https://github.com/stack-of-tasks/pinocchio/pull/1986
• Add support for ccache on Conda build by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1987
• build(deps): bump ros-industrial/industrial_ci from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1988
• Enhance compatibility with new Python versions by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1996

New Contributors

• @drewhamiltonasdf made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1986

[2.6.18] - 2023-04-29

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