{"repo":"stack-of-tasks/pinocchio","free":true,"listed":false,"github":"https://github.com/stack-of-tasks/pinocchio","clone":"git clone https://github.com/stack-of-tasks/pinocchio.git","description":"A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives","language":"C++","stars":3657,"topics":["robotics","dynamics","analytical-derivatives","kinematics","c-plus-plus","rigid-body-dynamics","code-generation","python","fcl","motion-planning"],"license":"BSD-2-Clause","category":"dev-tools","readme_excerpt":"Pinocchio is open-source software actively developed by the Willow team at Inria in the lovely city of Paris. Pinocchio instantiates state-of-the-art Rigid Body Algorithms for poly-articulated systems, building upon and revisiting the foundational algorithms introduced by Roy Featherstone. Beyond traditional rigid-body dynamics formulations, Pinocchio delivers cutting-edge algorithmic solutions for modern robotics and physics-based simulation challenges. It efficiently handles closed-loop kinematic mechanisms, solves frictional contact problems, and differentiates physics computations — making it a powerful and versatile library for both research and industrial applications. Pinocchio also provides analytical derivatives of the main Rigid Body Algorithms — such as the Recursive Newton-Euler Algorithm and the Articulated-Body Algorithm — enabling gradient-based optimization, control, and learning in both simulation and real-world settings. Pinocchio was originally designed for robotics applications, but it can be used in other contexts (biomechanics, computer graphics, vision, etc.). It is built upon Eigen for linear algebra and coal for collision detection. Pinocchio includes a Python interface for fast code prototyping, directly accessible through Conda. Pinocchio is now at the heart of various robotics software as Aligator, Crocoddyl, an open-source and efficient Differential Dynamic Programming solver for robotics, the Stack-of-Tasks, an open-source and versatile hierarchi","default_branch":null,"files":null,"tree":[],"storefront":"/r/stack-of-tasks","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/stack-of-tasks/pinocchio/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}