diff --git a/mplib/pymp/kinematics/pinocchio.pyi b/mplib/pymp/kinematics/pinocchio.pyi
index 2d8463ee..0181ecde 100644
--- a/mplib/pymp/kinematics/pinocchio.pyi
+++ b/mplib/pymp/kinematics/pinocchio.pyi
@@ -161,6 +161,12 @@ class PinocchioModel:
             frame of the link
         :return: 6 x n jacobian of the link
         """
+    def get_adjacent_links(self) -> set[tuple[str, str]]:
+        """
+        Get the all adjacent link names.
+
+        :return: adjacent link names as a set of pairs of strings
+        """
     def get_chain_joint_index(self, end_effector: str) -> list[int]:
         """
         Get the joint indices of the joints in the chain from the root to the given
diff --git a/pybind/docstring/kinematics/pinocchio/pinocchio_model.h b/pybind/docstring/kinematics/pinocchio/pinocchio_model.h
index 6c1e6730..fcf0b1ed 100644
--- a/pybind/docstring/kinematics/pinocchio/pinocchio_model.h
+++ b/pybind/docstring/kinematics/pinocchio/pinocchio_model.h
@@ -118,6 +118,12 @@ Constructs a PinocchioModel from URDF string
 :param verbose: print debug information. Default: ``False``.
 :return: a unique_ptr to PinocchioModel)doc";
 
+static const char *__doc_mplib_kinematics_pinocchio_PinocchioModelTpl_getAdjacentLinks =
+R"doc(
+Get the all adjacent link names.
+
+:return: adjacent link names as a set of pairs of strings)doc";
+
 static const char *__doc_mplib_kinematics_pinocchio_PinocchioModelTpl_getChainJointIndex =
 R"doc(
 Get the joint indices of the joints in the chain from the root to the given