stack-of-tasks/pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Implements Featherstone's recursive algorithms with automatic differentiation support for forward/inverse dynamics, centroidal dynamics, and constrained articulated-body computations. Built as a C++ template library on Eigen with FCL collision detection, offering analytical derivatives throughout and custom scalar type support for numerical precision. Integrates with URDF/SDF/MJCF formats and provides Python bindings via Conda/pip, serving as the computational foundation for robotics frameworks like Crocoddyl and Stack-of-Tasks.
3,168 stars. Actively maintained with 20 commits in the last 30 days.
Stars
3,168
Forks
510
Language
C++
License
BSD-2-Clause
Category
Last pushed
Mar 17, 2026
Commits (30d)
20
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