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pinocchio

C++ library for rigid body dynamics and kinematics algorithms

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Efficient and fast C++ library implementing Rigid Body Dynamics algorithms

Commands

pinocchio

Examples

Import and use pinocchio in a C++ program for robot dynamics$ #include <pinocchio/fwd.hpp> int main() { pinocchio::Model model; return 0; }
Load a robot URDF model and compute forward kinematics$ pinocchio::urdf::buildModel("robot.urdf", pinocchio::JointModelFreeFlyer(), model)
Calculate inverse dynamics for a robotic manipulator$ pinocchio::rnea(model, data, q, v, a)