Basics# Getting started Installation using PIP Installation from source System dependencies Pinocchio dependencies Cloning and building Using built Pythin bindings Robot model Loading robots Loading your Robot Using URDF file Flags Using direct URDF contents Self-collisions Configuring self-collision pairs Using self-collisions See also Joint configurations Robot state Retrieving all the joint names Integrating Joint limits Frames Frame to world transformation Moving the robot in the world Frame to frame transformation Visualization Visualization Robot visualization Custom frame Points Lines Arrow