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Pinocchio

Source: https://github.com/stack-of-tasks/pinocchio Fetched: 2026-02-13 Type: GitHub Repository

Description

Pinocchio is a high-performance C++ library implementing state-of-the-art rigid body dynamics algorithms. Originally named after the "Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms," it delivers analytical derivatives of core dynamics computations. While designed primarily for robotics, it also serves biomechanics, computer graphics, and vision applications. It is built on Eigen for linear algebra and FCL for collision detection, with full Python bindings for rapid prototyping.

Key Features / Contents

Forward Kinematics with analytical derivatives
Forward and Inverse Dynamics with analytical derivatives
Centroidal Dynamics calculations
Kinematic and Dynamic Regressors
Closed-loop Mechanism support
Frictional Contact Solvers
Constrained Articulated Body Algorithms
Sparse Constrained Dynamics
Robot Description Format Support: URDF, SDF, MJCF, SRDF, and programmatic model definition
Visualization: Gepetto Viewer, MeshCat, Panda3D, RViz, and Viser
Automatic Differentiation: CppAD and CasADi support
Multiple Precision: MPFR arithmetic support
Cache-friendly C++ template architecture exploiting kinematic tree sparsity
Full Python API via bindings

G1 Relevance

Pinocchio is a foundational library for G1 whole-body control and motion planning:

Inverse Kinematics (IK): Used to compute joint configurations for desired end-effector poses on the G1's arms and legs
Dynamics Computation: Forward and inverse dynamics needed for torque-based control of the G1's 29+ DOF
Whole-Body Control: Serves as the dynamics backend for control frameworks like TSID (Task Space Inverse Dynamics) which can be applied to the G1
URDF Loading: Can directly load the G1 URDF description for model-based control
Motion Planning: Powers HPP (Humanoid Path Planning), directly applicable to G1 locomotion and manipulation planning
Centroidal Dynamics: Essential for balance and locomotion control on bipedal platforms like the G1

Installation / Usage

Quick Install Options

# Conda (recommended)
conda install pinocchio -c conda-forge

# Pip (Linux only)
pip install pin

# Docker
docker run --rm -it ghcr.io/stack-of-tasks/pinocchio:devel

# ROS 2
sudo apt install ros-$ROS_DISTRO-pinocchio

Basic Python Usage

import pinocchio as pin

# Load robot model from URDF
model = pin.buildModelFromUrdf("path/to/g1.urdf")
data = model.createData()

# Forward kinematics
q = pin.neutral(model)
pin.forwardKinematics(model, data, q)

# Inverse dynamics
v = np.zeros(model.nv)
a = np.zeros(model.nv)
tau = pin.rnea(model, data, q, v, a)

Core Dependencies

Required: Eigen, FCL
Optional: CppAD, CasADi (automatic differentiation), MPFR (multi-precision)

Ecosystem Projects Built on Pinocchio

Crocoddyl: Model predictive control (MPC) framework
TSID: Task Space Inverse Dynamics solver
HPP: Humanoid Path Planning SDK
Jiminy: Physics simulator
OCS2: Optimal control toolbox

Development Status

Active development with 9,960+ commits. CI spans ROS, Linux (APT), macOS, Windows, and Robotpkg ecosystems. Development branch: devel.

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