stack-of-tasks/pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
This project helps engineers, researchers, and developers working with articulated mechanical systems. It takes a description of a robot or similar system (like a URDF file) and outputs fast, accurate calculations about its movement and forces. Robotics engineers, biomechanics researchers, and computer graphics specialists can use this to understand, simulate, and control complex systems.
3,168 stars. Actively maintained with 21 commits in the last 30 days.
Use this if you need to perform high-performance calculations for rigid body dynamics, including forward/inverse kinematics and dynamics, for multi-articulated systems like robots.
Not ideal if you are looking for a high-level simulation environment or a full robot control framework out-of-the-box, as this is a foundational library for dynamics calculations.
Stars
3,168
Forks
510
Language
C++
License
BSD-2-Clause
Category
Last pushed
Mar 17, 2026
Commits (30d)
21
Get this data via API
curl "https://pt-edge.onrender.com/api/v1/quality/ai-coding/stack-of-tasks/pinocchio"
Open to everyone — 100 requests/day, no key needed. Get a free key for 1,000/day.
Related tools
alphaville/optimization-engine
Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
symforce-org/symforce
Fast symbolic computation, code generation, and nonlinear optimization for robotics
inducer/loopy
A code generator for array-based code on CPUs and GPUs
loco-3d/crocoddyl
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is...
inducer/pymbolic
A simple package to do symbolic math (focus on code gen and DSLs)