pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

Latest version: 3.9.0

Add to xmake.lua

add_requires("pinocchio 3.9.0")

Learn how to add and link packages with Xmake →

Information

License
BSD-2-Clause
Recipe updated
2026-01-26T16:16:24.000Z

Platforms

  • wasm: wasm32, wasm64
  • msys: i386, x86_64
  • windows: x86, x64, arm, arm64, arm64ec
  • linux: i386, x86_64, armv7, armv7s, arm64, mips, mips64, mipsel, mips64el, loong64, riscv64, s390x, ppc, ppc64, ppc64el, sparc64
  • bsd: i386, x86_64, arm, arm64, ppc, ppc64, ppc64el, riscv64, sparc64
  • harmony: armeabi-v7a, arm64-v8a, x86, x86_64
  • cross: i386, x86_64, arm, armv7, arm64, mips, mips64, mips64el, riscv, riscv64, loong64, s390x, ppc, ppc64, ppc64el, sh4, sparc64
  • android: armeabi, armeabi-v7a, arm64-v8a, riscv64, x86, x86_64, mips, mip64
  • iphoneos: arm64, x86_64
  • macosx: x86_64, arm64

Options

autodiff
Build the library with the automatic differentiation support (via CppAD) · Type: boolean · Default: false
casadi
Build the library with the support of CASADI · Type: boolean · Default: false
collision
Build the library with the collision support (required HPP-FCL) · Type: boolean · Default: false
extra
Build the library with extra algorithms support · Type: boolean · Default: false
openmp
Build the library with the OpenMP support · Type: boolean · Default: false
python
Build python interface · Type: boolean · Default: false
sdf
Build the library with the SDF format support · Type: boolean · Default: false
tools
Build tools · Type: boolean · Default: false
urdf
Build the library with the URDF format support · Type: boolean · Default: false

Versions

  • v2.7.1
  • v3.9.0

Dependencies

Used by (1)

Packages declaring this dependency; requirements can vary by platform and configuration.

Install with xrepo

Install the package independently of a project and inspect its available configuration.

install

xrepo install "pinocchio 3.9.0"

show info

xrepo info "pinocchio"

Link a library to your target

Declare the requirement, then attach the library to the target that uses it.

xmake.lua

add_requires("pinocchio 3.9.0")

target("demo")
    set_kind("binary")
    add_files("src/*.cpp")
    add_packages("pinocchio")

Open a package environment

Open a shell with the environment exported by this package. Use the executable names documented by the package.

enter shell

xrepo env -b "pinocchio 3.9.0" shell