├── .coveragerc ├── .github └── workflows │ ├── conda │ └── conda-env.yml │ ├── linux.yml │ ├── windows-conda-clang.yml │ └── windows-conda-v142.yml ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .travis.yml ├── CMakeLists.txt ├── COPYING.LESSER ├── README.md ├── benchmark ├── CMakeLists.txt ├── timings-cg.cpp ├── timings-cholesky.cpp ├── timings-derivatives.cpp ├── timings-eigen.cpp ├── timings-geometry.cpp ├── timings-jacobian.cpp └── timings.cpp ├── bindings ├── CMakeLists.txt └── python │ ├── CMakeLists.txt │ ├── algorithm │ ├── algorithms.hpp │ ├── expose-aba-derivatives.cpp │ ├── expose-aba.cpp │ ├── expose-algorithms.cpp │ ├── expose-cat.cpp │ ├── expose-centroidal-derivatives.cpp │ ├── expose-centroidal.cpp │ ├── expose-cholesky.cpp │ ├── expose-com.cpp │ ├── expose-contact-dynamics.cpp │ ├── expose-crba.cpp │ ├── expose-energy.cpp │ ├── expose-frames-derivatives.cpp │ ├── expose-frames.cpp │ ├── expose-geometry.cpp │ ├── expose-jacobian.cpp │ ├── expose-joints.cpp │ ├── expose-kinematics-derivatives.cpp │ ├── expose-kinematics.cpp │ ├── expose-model.cpp │ ├── expose-regressor.cpp │ ├── expose-rnea-derivatives.cpp │ └── expose-rnea.cpp │ ├── fwd.hpp │ ├── math │ └── expose-rpy.cpp │ ├── module.cpp │ ├── multibody │ ├── data.hpp │ ├── expose-data.cpp │ ├── expose-frame.cpp │ ├── expose-geometry.cpp │ ├── expose-liegroups.cpp │ ├── expose-model.cpp │ ├── fcl │ │ ├── expose-fcl.cpp │ │ └── transform.hpp │ ├── frame.hpp │ ├── geometry-data.hpp │ ├── geometry-model.hpp │ ├── geometry-object.hpp │ ├── joint │ │ ├── expose-joints.cpp │ │ ├── joint-derived.hpp │ │ ├── joint.hpp │ │ ├── joints-datas.hpp │ │ ├── joints-models.hpp │ │ └── joints-variant.hpp │ ├── liegroups.hpp │ └── model.hpp │ ├── parsers │ ├── expose-parsers.cpp │ ├── python.hpp │ ├── python │ │ └── model.cpp │ ├── sample-models.cpp │ ├── sample-models.hpp │ ├── srdf.cpp │ ├── srdf.hpp │ ├── urdf.hpp │ └── urdf │ │ ├── geometry.cpp │ │ └── model.cpp │ ├── pinocchio │ ├── __init__.py │ ├── deprecated.py │ ├── deprecation.py │ ├── derivative │ │ ├── dcrba.py │ │ ├── lambdas.py │ │ └── xm.py │ ├── explog.py │ ├── robot_wrapper.py │ ├── romeo_wrapper.py │ ├── shortcuts.py │ ├── utils.py │ └── visualize │ │ ├── __init__.py │ │ ├── base_visualizer.py │ │ ├── gepetto_visualizer.py │ │ ├── meshcat_visualizer.py │ │ └── panda3d_visualizer.py │ ├── pinocchiopy.pc.cmake │ ├── serialization │ └── serializable.hpp │ ├── spatial │ ├── explog.hpp │ ├── expose-SE3.cpp │ ├── expose-explog.cpp │ ├── expose-force.cpp │ ├── expose-inertia.cpp │ ├── expose-motion.cpp │ ├── expose-skew.cpp │ ├── force.hpp │ ├── inertia.hpp │ ├── motion.hpp │ └── se3.hpp │ └── utils │ ├── constant.hpp │ ├── conversions.cpp │ ├── conversions.hpp │ ├── copyable.hpp │ ├── dependencies.cpp │ ├── dependencies.hpp │ ├── deprecation.hpp │ ├── eigen.hpp │ ├── list.hpp │ ├── namespace.hpp │ ├── pickle-map.hpp │ ├── pickle-vector.hpp │ ├── printable.hpp │ ├── registration.hpp │ ├── std-aligned-vector.hpp │ ├── std-map.hpp │ ├── std-vector.hpp │ ├── version.cpp │ └── version.hpp ├── doc ├── Doxyfile.extra.in ├── Overview.md ├── _porting.md ├── a-features │ ├── a-spatial.md │ ├── b-model-data.md │ ├── c-joints.md │ ├── d-model.md │ ├── e-lie.md │ ├── f-kinematic.md │ ├── g-dynamic.md │ ├── h-frames.md │ ├── i-geometric-models.md │ ├── intro.md │ ├── j-analytical-derivatives.md │ ├── k-automatic-differentiation.md │ ├── l-python.md │ └── m-tests.md ├── b-examples │ ├── a-model.md │ ├── ab-geometry-models.md │ ├── b-display.md │ ├── c-dynamics.md │ ├── d-contact.md │ ├── display │ │ ├── a-gepetto-viewer.md │ │ ├── b-meshcat-viewer.md │ │ └── c-robot-wrapper-viewer.md │ ├── e-collisions.md │ ├── f-derivatives.md │ ├── g-code-generation.md │ ├── h-inverse-geometry.md │ ├── i-inverse-kinematics.md │ ├── intro.md │ ├── j-tsid.md │ ├── k-qp.md │ ├── l-postures.md │ ├── m-rrt.md │ ├── n-rl.md │ └── o-reduced-model.md ├── bib │ ├── carpentier-rss18.bib │ ├── carpentier-sii19.bib │ └── pinocchioweb.bib ├── c-maths │ ├── a-overview.md │ ├── b-rigid-bodies.md │ ├── c-joints.md │ ├── d-articulated.md │ ├── dynamics.md │ ├── e-collisions.md │ ├── e-miscs.md │ ├── f-algorithms.md │ ├── intro.md │ └── se3.md ├── customdoxygen.css ├── d-practical-exercises │ ├── 1-directgeom.md │ ├── 2-invgeom.md │ ├── 3-invkine.md │ ├── 4-dyn.md │ ├── 5-planner.md │ ├── 6-wpg.md │ ├── 7-learn.md │ ├── intro.md │ └── src │ │ ├── continuous.py │ │ ├── display.py │ │ ├── dpendulum.py │ │ ├── factor.py │ │ ├── foot_steps.py │ │ ├── graph.py │ │ ├── mobilerobot.py │ │ ├── ocp.py │ │ ├── pendulum.py │ │ ├── prm_display.py │ │ ├── qnet.py │ │ ├── qtable.py │ │ ├── robot_hand.py │ │ └── ur5x4.py ├── e-implementation │ ├── a-overview.md │ ├── b-sparsity.md │ ├── c-crtp.md │ ├── d-miscs.md │ └── intro.md ├── f-benchmarks │ ├── a-overview.md │ ├── b-howto.md │ └── intro.md ├── g-success-stories │ └── intro.md ├── header.html ├── images │ ├── pinocchio-logo-large.pdf │ ├── pinocchio-logo-large.png │ └── pinocchio-performances.png ├── outline.txt ├── pictures │ ├── SE2MotivatingExample.svg │ ├── SE3Example1.jpg │ ├── cube-rotation_picture.jpg │ ├── cube_rotation.gif │ └── joints_gif │ │ ├── cylindrical_laas.gif │ │ ├── planar_laas.gif │ │ ├── prismatic_laas.gif │ │ ├── revolute_laas.gif │ │ └── spherical_laas.gif ├── pinocchio.ico ├── pinocchio.png └── treeview.dox ├── examples ├── CMakeLists.txt ├── README.md ├── build-reduced-model.cpp ├── build-reduced-model.py ├── capsule-approximation.py ├── code-generation.cpp ├── code-generation.py ├── codegen │ ├── CMakeLists.txt │ └── codegen-crba.cpp ├── collisions.cpp ├── collisions.py ├── contact.cpp ├── contact.py ├── derivatives.cpp ├── derivatives.py ├── display-shapes.py ├── display.cpp ├── display.py ├── dynamics.cpp ├── dynamics.py ├── forward-dynamics-derivatives.cpp ├── forward-dynamics-derivatives.py ├── geometry-models.cpp ├── geometry-models.py ├── gepetto-viewer.py ├── interpolation-SE3.cpp ├── inverse-dynamics-derivatives.cpp ├── inverse-dynamics-derivatives.py ├── inverse-geometry.cpp ├── inverse-geometry.py ├── inverse-kinematics.cpp ├── inverse-kinematics.py ├── kinematics-derivatives.cpp ├── kinematics-derivatives.py ├── meshcat-viewer-dae.py ├── meshcat-viewer.py ├── multiprecision.cpp ├── overview-SE3.cpp ├── overview-lie.cpp ├── overview-simple.cpp ├── overview-simple.py ├── overview-urdf.cpp ├── overview-urdf.py ├── panda3d-viewer-play.py ├── panda3d-viewer.py ├── postures.cpp ├── postures.py ├── qp.cpp ├── qp.py ├── rl.cpp ├── rl.py ├── robot-wrapper-viewer.py ├── rrt.cpp ├── rrt.py ├── sample-model-viewer.py ├── tsid.cpp └── tsid.py ├── models ├── baxter_simple.urdf ├── simple_humanoid.srdf ├── simple_humanoid.urdf ├── simple_humanoid_description │ └── box.stl └── simple_model.py ├── package.xml ├── src ├── CMakeLists.txt ├── algorithm │ ├── aba-derivatives.hpp │ ├── aba-derivatives.hxx │ ├── aba.hpp │ ├── aba.hxx │ ├── center-of-mass-derivatives.hpp │ ├── center-of-mass-derivatives.hxx │ ├── center-of-mass.hpp │ ├── center-of-mass.hxx │ ├── centroidal-derivatives.hpp │ ├── centroidal-derivatives.hxx │ ├── centroidal.hpp │ ├── centroidal.hxx │ ├── check.hpp │ ├── check.hxx │ ├── chol.m │ ├── cholesky.hpp │ ├── cholesky.hxx │ ├── compute-all-terms.hpp │ ├── contact-dynamics.hpp │ ├── contact-dynamics.hxx │ ├── copy.hpp │ ├── crba.hpp │ ├── crba.hxx │ ├── default-check.hpp │ ├── dynamics.hpp │ ├── energy.hpp │ ├── energy.hxx │ ├── frames-derivatives.hpp │ ├── frames-derivatives.hxx │ ├── frames.hpp │ ├── frames.hxx │ ├── geometry.hpp │ ├── geometry.hxx │ ├── jacobian.hpp │ ├── jacobian.hxx │ ├── joint-configuration.hpp │ ├── joint-configuration.hxx │ ├── kinematics-derivatives.hpp │ ├── kinematics-derivatives.hxx │ ├── kinematics.hpp │ ├── kinematics.hxx │ ├── model.hpp │ ├── model.hxx │ ├── regressor.hpp │ ├── regressor.hxx │ ├── rnea-derivatives.hpp │ ├── rnea-derivatives.hxx │ ├── rnea.hpp │ └── rnea.hxx ├── autodiff │ ├── casadi.hpp │ ├── casadi │ │ ├── math │ │ │ ├── matrix.hpp │ │ │ └── quaternion.hpp │ │ ├── spatial │ │ │ └── se3-tpl.hpp │ │ └── utils │ │ │ └── static-if.hpp │ ├── cppad.hpp │ └── cppad │ │ ├── algorithm │ │ └── aba.hpp │ │ ├── math │ │ ├── eigen_plugin.hpp │ │ └── quaternion.hpp │ │ ├── spatial │ │ ├── log.hxx │ │ └── se3-tpl.hpp │ │ └── utils │ │ └── static-if.hpp ├── codegen │ ├── code-generator-algo.hpp │ ├── code-generator-base.hpp │ └── cppadcg.hpp ├── container │ ├── aligned-vector.hpp │ └── boost-container-limits.hpp ├── core │ ├── binary-op.hpp │ └── unary-op.hpp ├── deprecated-macros.hpp ├── deprecated-namespaces.hpp ├── deprecation.hpp ├── eigen-macros.hpp ├── fwd.hpp ├── macros.hpp ├── math │ ├── casadi.hpp │ ├── comparison-operators.hpp │ ├── cppad.hpp │ ├── cppadcg.hpp │ ├── fwd.hpp │ ├── matrix-block.hpp │ ├── matrix.hpp │ ├── multiprecision-mpfr.hpp │ ├── multiprecision.hpp │ ├── quaternion.hpp │ ├── rotation.hpp │ ├── rpy.hpp │ ├── sign.hpp │ ├── sincos.hpp │ ├── taylor-expansion.hpp │ └── tensor.hpp ├── multibody │ ├── constraint-base.hpp │ ├── constraint-generic.hpp │ ├── constraint.hpp │ ├── data.hpp │ ├── data.hxx │ ├── fcl.hpp │ ├── fcl.hxx │ ├── force-set.hpp │ ├── frame.hpp │ ├── fwd.hpp │ ├── geometry.hpp │ ├── geometry.hxx │ ├── joint │ │ ├── fwd.hpp │ │ ├── joint-base.hpp │ │ ├── joint-basic-visitors.hpp │ │ ├── joint-basic-visitors.hxx │ │ ├── joint-collection.hpp │ │ ├── joint-common-operations.hpp │ │ ├── joint-composite.hpp │ │ ├── joint-composite.hxx │ │ ├── joint-data-base.hpp │ │ ├── joint-free-flyer.hpp │ │ ├── joint-generic.hpp │ │ ├── joint-mimic.hpp │ │ ├── joint-model-base.hpp │ │ ├── joint-planar.hpp │ │ ├── joint-prismatic-unaligned.hpp │ │ ├── joint-prismatic.hpp │ │ ├── joint-revolute-unaligned.hpp │ │ ├── joint-revolute-unbounded-unaligned.hpp │ │ ├── joint-revolute-unbounded.hpp │ │ ├── joint-revolute.hpp │ │ ├── joint-spherical-ZYX.hpp │ │ ├── joint-spherical.hpp │ │ ├── joint-translation.hpp │ │ └── joints.hpp │ ├── liegroup │ │ ├── cartesian-product-variant.hpp │ │ ├── cartesian-product-variant.hxx │ │ ├── cartesian-product.hpp │ │ ├── fwd.hpp │ │ ├── liegroup-algo.hpp │ │ ├── liegroup-algo.hxx │ │ ├── liegroup-base.hpp │ │ ├── liegroup-base.hxx │ │ ├── liegroup-collection.hpp │ │ ├── liegroup-generic.hpp │ │ ├── liegroup-variant-visitors.hpp │ │ ├── liegroup-variant-visitors.hxx │ │ ├── liegroup.hpp │ │ ├── special-euclidean.hpp │ │ ├── special-orthogonal.hpp │ │ └── vector-space.hpp │ ├── model.hpp │ ├── model.hxx │ ├── visitor.hpp │ └── visitor │ │ ├── fusion.hpp │ │ ├── joint-binary-visitor.hpp │ │ └── joint-unary-visitor.hpp ├── parsers │ ├── sample-models.hpp │ ├── sample-models.hxx │ ├── srdf.hpp │ ├── srdf.hxx │ ├── urdf.hpp │ ├── urdf │ │ ├── geometry.cpp │ │ ├── geometry.hxx │ │ ├── model.cpp │ │ ├── model.hxx │ │ ├── types.hpp │ │ ├── utils.cpp │ │ └── utils.hpp │ └── utils.hpp ├── serialization │ ├── aligned-vector.hpp │ ├── archive.hpp │ ├── data.hpp │ ├── eigen.hpp │ ├── force.hpp │ ├── frame.hpp │ ├── fwd.hpp │ ├── inertia.hpp │ ├── joints-constraint.hpp │ ├── joints-data.hpp │ ├── joints-model.hpp │ ├── joints-motion.hpp │ ├── joints-transform.hpp │ ├── joints.hpp │ ├── model.hpp │ ├── motion.hpp │ ├── se3.hpp │ ├── serializable.hpp │ ├── spatial.hpp │ ├── symmetric3.hpp │ └── vector.hpp ├── spatial │ ├── act-on-set.hpp │ ├── act-on-set.hxx │ ├── cartesian-axis.hpp │ ├── explog-quaternion.hpp │ ├── explog.hpp │ ├── fcl-pinocchio-conversions.hpp │ ├── force-base.hpp │ ├── force-dense.hpp │ ├── force-ref.hpp │ ├── force-tpl.hpp │ ├── force.hpp │ ├── fwd.hpp │ ├── inertia.hpp │ ├── log.hpp │ ├── log.hxx │ ├── motion-base.hpp │ ├── motion-dense.hpp │ ├── motion-ref.hpp │ ├── motion-tpl.hpp │ ├── motion-zero.hpp │ ├── motion.hpp │ ├── se3-base.hpp │ ├── se3-tpl.hpp │ ├── se3.hpp │ ├── skew.hpp │ ├── spatial-axis.hpp │ └── symmetric3.hpp └── utils │ ├── axis-label.hpp │ ├── cast.hpp │ ├── eigen-fix.hpp │ ├── file-explorer.hpp │ ├── helpers.hpp │ ├── static-if.hpp │ ├── string-generator.hpp │ ├── timer.hpp │ └── version.hpp ├── travis_custom ├── custom_before_install └── custom_build ├── unittest ├── CMakeLists.txt ├── aba-derivatives.cpp ├── aba.cpp ├── algo-check.cpp ├── all-joints.cpp ├── cartesian-product-liegroups.cpp ├── casadi-algo-derivatives.cpp ├── casadi-algo.cpp ├── casadi-basic.cpp ├── casadi-joints.cpp ├── casadi-spatial.cpp ├── center-of-mass-derivatives.cpp ├── centroidal-derivatives.cpp ├── centroidal.cpp ├── cholesky.cpp ├── com.cpp ├── compute-all-terms.cpp ├── constraint.cpp ├── contact-dynamics-derivatives.cpp ├── contact-dynamics.cpp ├── copy.cpp ├── cppad-algo-derivatives.cpp ├── cppad-algo.cpp ├── cppad-basic.cpp ├── cppad-joint-configurations.cpp ├── cppad-joints.cpp ├── cppad-spatial.cpp ├── cppadcg-algo.cpp ├── cppadcg-basic.cpp ├── cppadcg-joint-configurations.cpp ├── crba.cpp ├── data.cpp ├── eigen-basic-op.cpp ├── eigen-tensor.cpp ├── energy.cpp ├── explog.cpp ├── finite-differences.cpp ├── frames-derivatives.cpp ├── frames.cpp ├── fusion.cpp ├── geom.cpp ├── joint-composite.cpp ├── joint-configurations.cpp ├── joint-free-flyer.cpp ├── joint-generic.cpp ├── joint-jacobian.cpp ├── joint-mimic.cpp ├── joint-planar.cpp ├── joint-prismatic.cpp ├── joint-revolute.cpp ├── joint-spherical.cpp ├── joint-translation.cpp ├── kinematics-derivatives.cpp ├── kinematics.cpp ├── liegroups.cpp ├── model.cpp ├── multiprecision-mpfr.cpp ├── multiprecision.cpp ├── packaging │ ├── CMakeLists.txt │ ├── load_urdf.cpp │ └── run_rnea.cpp ├── python │ ├── CMakeLists.txt │ ├── bindings.py │ ├── bindings_SE3.py │ ├── bindings_aba.py │ ├── bindings_centroidal_dynamics_derivatives.py │ ├── bindings_com.py │ ├── bindings_com_velocity_derivatives.py │ ├── bindings_data.py │ ├── bindings_dynamics.py │ ├── bindings_fcl_transform.py │ ├── bindings_force.py │ ├── bindings_forward_dynamics_derivatives.py │ ├── bindings_frame.py │ ├── bindings_frame_derivatives.py │ ├── bindings_geometry_model.py │ ├── bindings_geometry_model_urdf.py │ ├── bindings_geometry_object.py │ ├── bindings_inertia.py │ ├── bindings_inverse_dynamics_derivatives.py │ ├── bindings_joint_composite.py │ ├── bindings_joints.py │ ├── bindings_kinematics.py │ ├── bindings_kinematics_derivatives.py │ ├── bindings_liegroups.py │ ├── bindings_model.py │ ├── bindings_motion.py │ ├── bindings_regressor.py │ ├── bindings_rnea.py │ ├── bindings_sample_models.py │ ├── bindings_spatial.py │ ├── bindings_std_map.py │ ├── bindings_std_vector.py │ ├── bindings_urdf.py │ ├── explog.py │ ├── rpy.py │ ├── serialization.py │ ├── test_case.py │ ├── utils.py │ └── version.py ├── python_parser.cpp ├── quaternion.cpp ├── regressor.cpp ├── rnea-derivatives.cpp ├── rnea.cpp ├── rotation.cpp ├── rpy.cpp ├── sample-models.cpp ├── serialization.cpp ├── sincos.cpp ├── spatial.cpp ├── srdf.cpp ├── symmetric.cpp ├── udut.cpp ├── urdf.cpp ├── utils │ ├── macros.hpp │ └── model-generator.hpp ├── value.cpp ├── vector.cpp ├── version.cpp └── visitor.cpp └── utils ├── CMakeLists.txt └── pinocchio_read_model.cpp 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