Pinocchio

Pinocchio computes rigid multibody kinematics and dynamics at high speed using Featherstone’s algorithms: recursive Newton-Euler inverse dynamics, the inertia matrix, constrained forward dynamics, Jacobians and centre of mass. It reads URDF models and supports revolute, prismatic, spherical and free-flyer joints. It is used for arm and legged-robot control, motion planning and inverse kinematics, and for biomechanics. Limitation: it is a programming library, not a graphical program, and the pip package is currently Linux-only.