{"id":13445547,"url":"https://github.com/stack-of-tasks/pinocchio","last_synced_at":"2026-01-05T16:12:47.018Z","repository":{"id":21577721,"uuid":"24897645","full_name":"stack-of-tasks/pinocchio","owner":"stack-of-tasks","description":"A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives","archived":false,"fork":false,"pushed_at":"2025-05-01T06:37:10.000Z","size":31192,"stargazers_count":2339,"open_issues_count":96,"forks_count":433,"subscribers_count":60,"default_branch":"devel","last_synced_at":"2025-05-01T07:33:29.234Z","etag":null,"topics":["analytical-derivatives","automatic-differentiation","c-plus-plus","casadi","code-generation","conda","cppad","dynamics","fcl","kinematics","motion-planning","pinocchio","python","rigid-body-dynamics","robotics","ros","urdf"],"latest_commit_sha":null,"homepage":"http://stack-of-tasks.github.io/pinocchio/","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-2-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/stack-of-tasks.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.md","contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":"CITATION.bib","codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2014-10-07T15:42:51.000Z","updated_at":"2025-05-01T06:37:14.000Z","dependencies_parsed_at":"2023-01-16T22:00:31.907Z","dependency_job_id":"cc4fee11-eb89-4947-bced-19d74bb7c6db","html_url":"https://github.com/stack-of-tasks/pinocchio","commit_stats":{"total_commits":5512,"total_committers":92,"mean_commits":59.91304347826087,"dds":0.5932510885341074,"last_synced_commit":"0caf0ca4d07e63834cdc420c703993662c59e01b"},"previous_names":[],"tags_count":89,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stack-of-tasks%2Fpinocchio","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stack-of-tasks%2Fpinocchio/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stack-of-tasks%2Fpinocchio/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stack-of-tasks%2Fpinocchio/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/stack-of-tasks","download_url":"https://codeload.github.com/stack-of-tasks/pinocchio/tar.gz/refs/heads/devel","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":253746019,"owners_count":21957485,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["analytical-derivatives","automatic-differentiation","c-plus-plus","casadi","code-generation","conda","cppad","dynamics","fcl","kinematics","motion-planning","pinocchio","python","rigid-body-dynamics","robotics","ros","urdf"],"created_at":"2024-07-31T05:00:35.839Z","updated_at":"2026-01-05T16:12:47.006Z","avatar_url":"https://github.com/stack-of-tasks.png","language":"C++","funding_links":[],"categories":["6. Planning","Various robotics-tailored cpp utilities to perform signal processing, parameter identification and more","Planning and Control","6 代码与工具","Modelling and Simulation 💻","Libraries \u0026 Frameworks","Libraries and Frameworks","Manipulation","Learning Source","🦿 Humanoid \u0026 Legged Robots"],"sub_categories":["3.4 High Performance Inference","Vector Map","Multibody and Physics Engines :sleeping::arrow_lower_left::apple:","Autopilots","Dynamics \u0026 Control","Dev Tools"],"readme":"\u003cp align=\"center\"\u003e\n  \u003cimg src=\"https://raw.githubusercontent.com/stack-of-tasks/pinocchio/devel/doc/images/pinocchio-logo-large.png\" width=\"800\" alt=\"Pinocchio Logo\" align=\"center\"/\u003e\n\u003c/p\u003e\n\n\u003cp align=\"center\"\u003e\n  \u003ca href=\"https://opensource.org/licenses/BSD-2-Clause\"\u003e\u003cimg src=\"https://img.shields.io/badge/License-BSD%202--Clause-green.svg\" alt=\"License\"/\u003e\u003c/a\u003e\n  \u003ca href=\"https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/\"\u003e\u003cimg src=\"https://img.shields.io/badge/docs-online-brightgreen\" alt=\"Documentation\"/\u003e\u003c/a\u003e\n  \u003ca href=\"https://deepwiki.com/stack-of-tasks/pinocchio\"\u003e\u003cimg src=\"https://deepwiki.com/badge.svg\" alt=\"Ask DeepWiki\"/\u003e\u003c/a\u003e\n  \u003ca href=\"http://projects.laas.fr/gepetto/doc/stack-of-tasks/pinocchio/devel/coverage/\"\u003e\u003cimg src=\"https://gepgitlab.laas.fr/stack-of-tasks/pinocchio/badges/devel/coverage.svg?job=doc-coverage\" alt=\"Coverage Report\"/\u003e\u003c/a\u003e\n  \u003ca href=\"https://anaconda.org/conda-forge/pinocchio\"\u003e\u003cimg src=\"https://img.shields.io/conda/dn/conda-forge/pinocchio.svg\" alt=\"Conda Downloads\"/\u003e\u003c/a\u003e\n  \u003ca href=\"https://anaconda.org/conda-forge/pinocchio\"\u003e\u003cimg src=\"https://img.shields.io/conda/vn/conda-forge/pinocchio.svg\" alt=\"Conda Version\"/\u003e\u003c/a\u003e\n  \u003ca href=\"https://badge.fury.io/py/pin\"\u003e\u003cimg src=\"https://badge.fury.io/py/pin.svg\" alt=\"PyPI version\" height=\"20\"\u003e\u003c/a\u003e\n  \u003ca href=\"https://badge.fury.io/py/pin\"\u003e\u003cimg src=\"https://results.pre-commit.ci/badge/github/stack-of-tasks/pinocchio/devel.svg\" alt=\"pre-commit.ci status\" height=\"20\"\u003e\u003c/a\u003e\n  \u003cbr\u003e\n  \u003c!--\u003ca href=\"https://gitlab.laas.fr/stack-of-tasks/pinocchio\"\u003e\u003cimg src=\"https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/devel/pipeline.svg\" alt=\"Pipeline Status\"\u003e\u003c/a\u003e--\u003e\n\n\u003c/p\u003e\n\n\u003c!--Pinocchio: a C++ library for efficient Rigid Multi-body Dynamics computations\n===========\n--\u003e\n\n**Pinocchio** instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms.\nBesides, **Pinocchio** provides the analytical derivatives of the main Rigid-Body Algorithms, such as the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.\n\n**Pinocchio** was originally designed for robotics applications, but it can be used in other contexts (biomechanics, computer graphics, vision, etc.).\nIt is built upon Eigen for linear algebra and FCL for collision detection. **Pinocchio** includes a Python interface for fast code prototyping, [directly accessible](https://github.com/conda-forge/pinocchio-feedstock#installing-pinocchio) through [Conda](https://docs.conda.io/en/latest/).\n\n**Pinocchio** is now at the heart of various robotics software as [Crocoddyl](https://github.com/loco-3d/crocoddyl/tree/devel), an open-source and efficient Differential Dynamic Programming solver for robotics, the [Stack-of-Tasks](http://stack-of-tasks.github.io), an open-source and versatile hierarchical controller framework, or the [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc), open-source software for Motion and Manipulation Planning.\n\nIf you want to learn more about **Pinocchio** internal behaviors and main features, we invite you to read the related [paper](https://hal-laas.archives-ouvertes.fr/hal-01866228) and the online [documentation](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/) or [DeepWiki](https://deepwiki.com/stack-of-tasks/pinocchio).\n\nIf you want to dive into **Pinocchio** directly, only one single line is sufficient (assuming you have Conda):\n\n\u003cp align=\"center\"\u003e\n\u003cstrong\u003e conda install pinocchio -c conda-forge \u003c/strong\u003e\n\u003c/p\u003e\n\nor via pip (currently only available on Linux):\n\u003cp align=\"center\"\u003e\n\u003cstrong\u003e pip install pin \u003c/strong\u003e\n\u003c/p\u003e\n\n\n## Table of contents\n\n  - [Table of contents](#table-of-contents)\n  - [Pinocchio main features](#pinocchio-main-features)\n  - [Documentation](#documentation)\n  - [Examples](#examples)\n  - [Tutorials](#tutorials)\n  - [Pinocchio continuous integrations](#pinocchio-continuous-integrations)\n  - [Performances](#performances)\n  - [Ongoing developments](#ongoing-developments)\n  - [Installation](#installation)\n    - [ROS](#ros)\n  - [Visualization](#visualization)\n  - [Citing Pinocchio](#citing-pinocchio)\n  - [Questions and Issues](#questions-and-issues)\n  - [Core-dev team](#core-dev-team)\n  - [Credits](#credits)\n  - [Open-source projects relying on Pinocchio](#open-source-projects-relying-on-pinocchio)\n  - [Acknowledgments](#acknowledgments)\n\n## Pinocchio main features\n\n**Pinocchio** is fast:\n\n   - C++ template library,\n   - cache friendly,\n   - support custom scalar type.\n\n**Pinocchio** is versatile, implementing basic and more advanced rigid body dynamics algorithms:\n\n   - forward kinematics and its analytical derivatives,\n   - forward/inverse dynamics and their analytical derivatives,\n   - centroidal dynamics and its analytical derivatives,\n   - computations of kinematic and dynamic regressors for system identification and more,\n   - full support of closed-loop mechanisms,\n   - [state-of-the-art frictional contact solvers](https://hal.science/hal-04588906v1/file/simplecontacts2024.pdf),\n   - low-complexity constrained articulated body algorithms,\n   - [sparse constrained dynamics](https://laas.hal.science/hal-01790971v2/file/18-rss-analytical-derivatives-carpentier.pdf) and its analytical derivatives,\n   - full support of [multiple-precision floating-point (MPFR)](https://www.mpfr.org/) in Python and C++,\n   - support of modern and open-source Automatic Differentiation frameworks like [CppAD](https://github.com/coin-or/CppAD) or [CasADi](https://web.casadi.org/),\n   - automatic code generation support is available via [CppADCodeGen](https://github.com/joaoleal/CppADCodeGen).\n\n**Pinocchio** can support description formats:\n\n  - URDF format,\n  - SDF format,\n  - MJCF format,\n  - SRDF format,\n  - programmatically.\n\n**Pinocchio** is flexible:\n\n   - header only,\n   - template instantiation,\n   - C++ 11/14/17/20/23 compliant.\n\n**Pinocchio** is extensible.\n**Pinocchio** is multi-thread friendly.\n**Pinocchio** is reliable and extensively tested (unit tests, simulations, and real-world robotics applications).\n**Pinocchio** is supported and tested on Windows, Mac OS X, Unix, and Linux ([see build status here](http://robotpkg.openrobots.org/rbulk/robotpkg/math/pinocchio/index.html)).\n\n## Documentation\n\nThe online **Pinocchio** documentation of the last release is available [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/). A cheat sheet pdf with the main functions and algorithms can be found [here](https://github.com/stack-of-tasks/pinocchio/blob/devel/doc/pinocchio_cheat_sheet.pdf).\n\n## Examples\n\nIn the [examples](https://github.com/stack-of-tasks/pinocchio/tree/devel/examples) directory, we provide some basic examples of using Pinocchio in Python.\nAdditional examples introducing **Pinocchio** are also available in the [documentation](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/md_doc_d-practical-exercises_intro.html).\n\n## Tutorials\n\n**Pinocchio** comes with a large bunch of tutorials aiming at introducing the basic tools for robot control.\nTutorial and training documents are listed [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/index.html#OverviewConclu).\nYou can also consider the interactive Jupyter notebook [set of tutorials](https://github.com/ymontmarin/_tps_robotique) developed by [Nicolas Mansard](https://gepettoweb.laas.fr/index.php/Members/NicolasMansard) and [Yann de Mont-Marin](https://github.com/ymontmarin).\n\n## Pinocchio continuous integrations\n\n**Pinocchio** is constantly tested for several platforms and distributions, as reported below:\n\u003cp align=\"center\"\u003e\n  \u003ctable class=\"center\"\u003e\n   \u003c!-- \u003ctr\u003e \u003ctd\u003e Continuous Integration \u003c/td\u003e\u003c/tr\u003e--\u003e\n  \u003ctr\u003e\u003ctd\u003e CI on ROS \u003c/td\u003e\n  \u003ctd\u003e\u003ca href=\"https://github.com/stack-of-tasks/pinocchio/actions/workflows/ros_ci.yml\"\u003e\u003cimg alt=\"ROS\" src=\"https://github.com/stack-of-tasks/pinocchio/actions/workflows/ros_ci.yml/badge.svg?branch=devel\" /\u003e\u003c/a\u003e\u003c/td\u003e\n    \u003c/tr\u003e\u003ctr\u003e\u003ctd\u003e CI on Linux via APT \u003c/td\u003e\n  \u003ctd\u003e\u003ca href=\"https://github.com/stack-of-tasks/pinocchio/actions/workflows/linux.yml\"\u003e\u003cimg alt=\"linux\" src=\"https://github.com/stack-of-tasks/pinocchio/actions/workflows/linux.yml/badge.svg?branch=devel\" /\u003e\u003c/a\u003e\u003c/td\u003e\n    \u003c/tr\u003e\u003ctr\u003e\u003ctd\u003e CI on macOS and Windows via Pixi \u003c/td\u003e\n  \u003ctd\u003e\u003ca href=\"https://github.com/stack-of-tasks/pinocchio/actions/workflows/macos-linux-windows-pixi.yml\"\u003e\u003cimg alt=\"mac\" src=\"https://github.com/stack-of-tasks/pinocchio/actions/workflows/macos-linux-windows-pixi.yml/badge.svg?branch=devel\" /\u003e\u003c/a\u003e\u003c/td\u003e\n    \u003c/tr\u003e\u003ctr\u003e\u003ctd\u003e CI on Linux via Robotpkg \u003c/td\u003e\n    \u003ctd\u003e\u003cimg src=\"https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/devel/pipeline.svg\" alt=\"Pipeline Status\"\u003e\u003c/td\u003e\n   \u003c/tr\u003e\n  \u003c/table\u003e\n\u003c/p\u003e\n\n## Performances\n\n**Pinocchio** exploits, at best, the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, **Pinocchio** can unroll most of the computations directly at compile time, allowing to achieve impressive performances for an extensive range of robots, as illustrated by the plot below, obtained on a standard laptop equipped with an Intel Core i7 CPU @ 2.4 GHz.\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"https://raw.githubusercontent.com/stack-of-tasks/pinocchio/devel/doc/images/pinocchio-performances.png\" width=\"600\" alt=\"Pinocchio Logo\" align=\"center\"/\u003e\n\u003c/p\u003e\n\nFor other benchmarks, and mainly the capacity of Pinocchio to exploit, at best, your CPU capacities using advanced code generation techniques, we refer to the technical [paper](https://hal-laas.archives-ouvertes.fr/hal-01866228).\nIn addition, the [introspection](https://github.com/rbd-benchmarks/rbd-benchmarks) may also help you to understand and compare the performances of the modern rigid body dynamics libraries.\n\n## Ongoing developments\n\nIf you want to follow the current developments, you can refer to the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel).\nThe [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel/) only contains the latest release. Any new Pull Request should be submitted on the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel/).\n\n## Installation\n\n**Pinocchio** can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Please refer to the [installation procedure](http://stack-of-tasks.github.io/pinocchio/download.html).\n\n### Conda\n\nYou simply need this simple line:\n\n```bash\nconda install pinocchio -c conda-forge\n```\n\n### Docker\n\n```\ndocker run --rm -it ghcr.io/stack-of-tasks/pinocchio:devel\n```\n\n### ROS\n\n**Pinocchio** is also deployed on ROS.\nYou may follow its deployment status below.\n\nIf you're interested in using Pinocchio on systems and/or with packages that integrate with the ROS ecosystem, we recommend the installation of Pinocchio via the binaries distributed via the ROS PPA.\nHere, you can install Pinocchio using:\n\n```\nsudo apt install ros-$ROS_DISTRO-pinocchio\n```\n\nThis installs Pinocchio with Coal support for collision checking and with Python bindings.\nYou can then use Pinocchio in your ROS packages by:\n\n* Depending on Pinocchio in your `package.xml` config (`\u003cdepend\u003epinocchio\u003c/depend\u003e`)\n* Including Pinocchio via CMake (`find_package(pinocchio REQUIRED)`) and linking against Pinocchio (`target_link_libraries(my_library pinocchio::pinocchio)`)\n\nWe include support and hooks to discover the package for ROS build systems.\nA ROS 2 example can be found in [this repository](https://github.com/sea-bass/pinocchio_ros_cpp_example).\n\nPlease note that we always advise including the `pinocchio/fwd.hpp` header as the first include to avoid compilation errors from differing Boost-variant sizes.\n\n| ROS 2 Distro  | Build Status                                                                                                                                                               |\n| ------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |\n| **Humble**    | [![](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) |\n| **Jazzy**     | [![](https://build.ros2.org/job/Jbin_uN64__pinocchio__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__pinocchio__ubuntu_noble_amd64__binary) |\n| **Kilted**    | [![](https://build.ros2.org/job/Kbin_uN64__pinocchio__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Kbin_uN64__pinocchio__ubuntu_noble_amd64__binary) |\n| **Rolling**   | [![](https://build.ros2.org/job/Rbin_uN64__pinocchio__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__pinocchio__ubuntu_noble_amd64__binary) |\n\n## Visualization\n\n**Pinocchio** provides support for many open-source and free visualizers:\n\n-   [Gepetto Viewer](https://github.com/Gepetto/gepetto-viewer): a C++ viewer based on [OpenSceneGraph](https://github.com/openscenegraph/OpenSceneGraph) with Python bindings and Blender export. See [here](https://github.com/stack-of-tasks/pinocchio-gepetto-viewer) for a C++ example on mixing **Pinocchio** and **Gepetto Viewer**.\n-   [Meshcat](https://github.com/rdeits/meshcat): supporting visualization in Python and which can be embedded inside any browser.\n-   [Panda3d](https://github.com/ikalevatykh/panda3d_viewer): supporting visualization in Python and which can be embedded inside any browser.\n-   [RViz](https://github.com/ros-visualization/rviz): supporting visualization in Python and which can interact with other ROS packages.\n-   [Viser](https://github.com/nerfstudio-project/viser): supporting browser-based visualization in Python, with support for widgets such as sliders and interactive markers.\n\nMany external viewers can also be integrated. For more information, see the example [here](https://github.com/stack-of-tasks/pinocchio/blob/devel/bindings/python/pinocchio/visualize/base_visualizer.py).\n\n## Citing Pinocchio\n\nTo cite **Pinocchio** in your academic research, please consider citing the [software paper](https://laas.hal.science/hal-01866228v2/file/19-sii-pinocchio.pdf) and use the following BibTeX entry:\n```bibtex\n@inproceedings{carpentier2019pinocchio,\n   title={The Pinocchio C++ library -- A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives},\n   author={Carpentier, Justin and Saurel, Guilhem and Buondonno, Gabriele and Mirabel, Joseph and Lamiraux, Florent and Stasse, Olivier and Mansard, Nicolas},\n   booktitle={IEEE International Symposium on System Integrations (SII)},\n   year={2019}\n}\n```\nAnd the following one for the link to the GitHub codebase:\n```bibtex\n@misc{pinocchioweb,\n   author = {Justin Carpentier and Florian Valenza and Nicolas Mansard and others},\n   title = {Pinocchio: fast forward and inverse dynamics for poly-articulated systems},\n   howpublished = {https://stack-of-tasks.github.io/pinocchio},\n   year = {2015--2021}\n}\n```\n\n## Citing specific algorithmic contributions\n\n**Pinocchio** goes beyond implementing the standard rigid-body dynamics algorithms and results from active research on simulation, learning, and control.\n**Pinocchio** provides state-of-the-art algorithms for handling constraints, differentiating forward and inverse dynamics, etc.\nIf you use these algorithms, please consider citing them in your research articles.\n\n- Carpentier, J., Le Lidec, Q. \u0026 Montaut, L. (2024, July). [From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach](https://hal.science/hal-04588906). In RSS 2024-Robotics: Science and Systems (RSS 2024).\n- Le Lidec, Q., Jallet, W., Montaut, L., Laptev, I., Schmid, C., \u0026 Carpentier, J. (2024). [Contact models in robotics: a comparative analysis](https://hal.science/hal-04067291/). IEEE Transactions on Robotics.\n- Montaut, L., Le Lidec, Q., Petrik, V., Sivic, J., \u0026 Carpentier, J. (2024). [GJK++: Leveraging Acceleration Methods for Faster Collision Detection](https://hal.science/hal-04070039/). IEEE Transactions on Robotics.\n- Sathya, A., \u0026 Carpentier, J. (2024). [Constrained Articulated Body Dynamics Algorithms](https://hal.science/hal-04443056/). IEEE Transactions on Robotics.\n- Montaut, L., Le Lidec, Q., Bambade, A., Petrik, V., Sivic, J., \u0026 Carpentier, J. (2023, May). [Differentiable collision detection: a randomized smoothing approach](https://hal.science/hal-03780482/). In 2023 IEEE International Conference on Robotics and Automation (ICRA).\n- Montaut, L., Le Lidec, Q., Petrik, V., Sivic, J., \u0026 Carpentier, J. (2022, June). [Collision Detection Accelerated: An Optimization Perspective](https://hal.science/hal-03662157/). In Robotics: Science and Systems (RSS 2022).\n- Carpentier, J., Budhiraja, R., \u0026 Mansard, N. (2021, July). [Proximal and sparse resolution of constrained dynamic equations](https://hal.science/hal-03271811/). In Robotics: Science and Systems (RSS 2021).\n- Carpentier, J., \u0026 Mansard, N. (2018, June). [Analytical derivatives of rigid body dynamics algorithms](https://hal.science/hal-01790971/). In Robotics: Science and Systems (RSS 2018).\n\n## Questions and Issues\n\nDo you have a question or an issue? You may either directly open a [new question](https://github.com/stack-of-tasks/pinocchio/discussions/new?category=q-a) or a [new issue](https://github.com/stack-of-tasks/pinocchio/issues) or, directly contact us via the mailing list \u003cpinocchio@inria.fr\u003e.\n\n## Core-dev team\n\nThe currently active core developers of **Pinocchio** are:\n\n-   [Justin Carpentier](https://jcarpent.github.io) (Inria): main developer and manager of the project\n-   [Guilhem Saurel](https://www.laas.fr/fr/annuaire/gsaurel) (LAAS-CNRS): CI/CD, packaging\n-   [Etienne Arlaud](https://github.com/EtienneAr) (Inria): core developer\n-   [Wilson Jallet](https://github.com/ManifoldFR) (LAAS-CNRS/Inria): extension of Python bindings, C++ visualization API\n-   [Fabian Schramm](https://github.com/fabinsch) (Inria): core developper\n-   [Stéphane Caron](https://scaron.info) (Inria): core developper\n-   [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and project manager\n-   [Megane Millan](https://github.com/MegMll) (Inria): core developer\n-   [Ajay Sathya](https://www.ajaysathya.com/) (Inria): core developer\n\n## Credits\n\nIn addition to the core dev team, the following people have also been involved in the development of **Pinocchio** and are warmly thanked for their contributions:\n\n-   [Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): initial project instructor\n-   [Joseph Mirabel](http://jmirabel.github.io/) (Eureka Robotics): Lie groups and hpp-fcl support\n-   [Antonio El Khoury](https://www.linkedin.com/in/antonioelkhoury) (Wandercraft): bug fixes\n-   [Gabriele Buondono](http://projects.laas.fr/gepetto/index.php/Members/GabrieleBuondonno) (LAAS-CNRS): features extension, bug fixes, and Python bindings\n-   [Florian Valenza](https://fr.linkedin.com/in/florian-valenza-1b274082) (Astek): core developments and hpp-fcl support\n-   [Wolfgang Merkt](http://www.wolfgangmerkt.com/) (University of Oxford): ROS integration and support\n-   [Rohan Budhiraja](https://scholar.google.com/citations?user=NW9Io9AAAAAJ) (Inria/LAAS-CNRS): features extension\n-   [Loïc Estève](https://github.com/lesteve) (Inria): Conda integration and support\n-   [Igor Kalevatykh](https://github.com/ikalevatykh) (Inria): Panda3d viewer support\n-   [Matthieu Vigne](https://github.com/matthieuvigne) (Wandercraft): MeshCat viewer support\n-   [Robin Strudel](https://www.di.ens.fr/robin.strudel/) (Inria): features extension\n-   [François Keith](https://scholar.google.fr/citations?user=cxSxXiQAAAAJ\u0026hl=en) (CEA): Windows support\n-   [Sarah El Kazdadi](https://github.com/sarah-ek) (Inria): multi-precision arithmetic support\n-   [Nicolas Torres Alberto](https://scholar.google.com/citations?user=gYNLhEIAAAAJ\u0026hl=en) (Inria): features extension\n-   [Shubham Singh](https://github.com/shubhamsingh91) (UT Austin): second-order inverse dynamics derivatives\n-   [Sebastian Castro](https://roboticseabass.com) (RAI Institute): Viser visualizer and MeshCat visualizer feature extension\n-   [Lev Kozlov](https://github.com/lvjonok): Kinetic and potential energy regressors\n-   [Simeon Nedelchev](https://github.com/simeon-ned): Pseudo inertia and Log-Cholesky parametrization\n-   [Alexy Legrand](https://www.linkedin.com/in/alexy-legrand-125889232/): Viser color bug fixes\n-   [Pierre Puchaud](https://github.com/ipuch): Ellipsoid Joint\n-   [Lucas Joseph](https://github.com/LucasJoseph): Ellipsoid Joint\n\nIf you have participated in the development of **Pinocchio**, please add your name and contribution to this list.\n\n## Open-source projects relying on Pinocchio\n\n-   [Crocoddyl](https://github.com/loco-3d/crocoddyl): A software to realize model predictive control for complex robotics platforms.\n-   [TSID](https://github.com/stack-of-tasks/tsid/): A software that implements a Task Space Inverse Dynamics QP.\n-   [HPP](https://humanoid-path-planner.github.io/hpp-doc/): A SDK that implements motion planners for humanoids and other robots.\n-   [Jiminy](https://github.com/duburcqa/jiminy): A simulator based on Pinocchio.\n-   [ocs2](https://github.com/leggedrobotics/ocs2): A toolbox for Optimal Control for Switched Systems (OCS2)\n-   [TriFingerSimulation](https://github.com/open-dynamic-robot-initiative/trifinger_simulation): TriFinger Robot Simulation (a Robot to perform RL on manipulation).\n-   [Casadi_Kin_Dyn](https://github.com/ADVRHumanoids/casadi_kin_dyn): IIT Package for generation of symbolic (SX) expressions of robot kinematics and dynamics.\n-   [PyRoboPlan](https://github.com/sea-bass/pyroboplan): An educational Python library for manipulator motion planning using the Pinocchio Python bindings.\n-   [RoboPlan](https://github.com/open-planning/roboplan): A modern robot motion planning library based on Pinocchio, built in C++ with Python bindings (successor to PyRoboPlan).\n-   [ProxSuite-NLP](https://github.com/Simple-Robotics/proxsuite-nlp): A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.\n-   [Aligator](https://github.com/Simple-Robotics/aligator): A versatile and efficient framework for constrained trajectory optimization.\n-   [Simple](https://github.com/Simple-Robotics/Simple): The Simple Simulator: Simulation Made Simple.\n-   [LoIK](https://github.com/Simple-Robotics/LoIK): Low-Complexity Inverse Kinematics.\n-   [PlaCo](https://github.com/Rhoban/placo): Rhoban's planning and control library, featuring task-space inverse kinematics and dynamics high-level API for whole-body control tasks.\n-   [CRISP controllers](https://github.com/utiasDSL/crisp_controllers): Collection of real-time, C++ controllers for compliant torque-based control for manipulators compatible with `ros2_control`.\n\n## Acknowledgments\n\nThe development of **Pinocchio** is actively supported by the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr) and the [Willow team](https://www.di.ens.fr/willow/) [@INRIA](http://www.inria.fr).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstack-of-tasks%2Fpinocchio","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fstack-of-tasks%2Fpinocchio","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstack-of-tasks%2Fpinocchio/lists"}