pinocchio
by stack-of-tasks · GitHub
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
⭐ Stars
3.6k
🍴 Forks
556
📜 License
BSD-2-Clause
Commercial use OK📅 Created
2014
🔄 Last commit
13 days ago
🏷️ Category
analytical-derivatives
💻 Language
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📈 Star history
2026-07-152026-07-21
📄 About
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
❓ Frequently asked questions
What is pinocchio?
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Is pinocchio open source?
pinocchio is an open-source project. It is released under the BSD-2-Clause license.
Is pinocchio free?
Yes. pinocchio is free and open source — you can use, modify and self-host it.
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