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Short Introduction to iDyn

In this page you'll find pointers to anything useful regarding the iDyn library. For more details about the library or its use, ask Serena Ivaldi or Matteo Fumagalli. The library is still under development! So if you have suggestions...

Code documentation

  • The code documentation is available in the

official iCub documentation site.


  • A short introduction to iDyn is available in the

official iCub tutorial site.

  • Some tutorial examples are available in the iCub repository, in:




Incoming... :)


In this short demo, iDyn is used to find the external force at the end-effector, arising during contacts with the environment (table, object, human hand...).