![]() ![]() ![]() Pinocchio comes with a Python interface for fast code prototyping, directly accessible through Conda. ![]() It is built upon Eigen for linear algebra and FCL for collision detection. Pinocchio is first tailored for robotics applications, but it can be used in extra contexts (biomechanics, computer graphics, vision, etc.). Pinocchio instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms.īesides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm. ![]()
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