{"categories":[{"label":"Scientific/Engineering","url":"https://skillfed.io/packages/category/scientific-engineering/3"}],"enrichment":{"capability":"Python interface to a C++ rigid-body dynamics library that computes forward and inverse kinematics, dynamics, and their analytical derivatives for articulated mechanical systems.","skillfed_tags":["robotics","physics-simulation","dynamics-algorithms"],"use_cases":["Computing forward and inverse kinematics and dynamics for robot control and trajectory optimization.","Gradient-based robot motion planning and learning using analytical derivatives of dynamics algorithms.","Simulating closed-loop mechanisms and frictional contact in physics-based applications.","Identifying system parameters via kinematic and dynamic regressors for system identification.","Prototyping hierarchical control frameworks and differential dynamic programming solvers."],"what_it_does":"pin is a Python binding to a high-performance C++ library for rigid-body dynamics computations. It implements algorithms for forward and inverse kinematics, forward and inverse dynamics, centroidal dynamics, and contact dynamics, all with analytical derivatives suitable for gradient-based optimization. The library is built on Eigen for linear algebra and coal for collision detection, and supports multiple robot description formats (URDF, SDF, MJCF, SRDF) as well as programmatic model construction.\n\nDesigned primarily for robotics, pin handles closed-loop kinematic mechanisms, frictional contact problems, and sparse constrained dynamics. The C++ template design allows compile-time specialization and custom scalar types, while the Python interface enables rapid prototyping. The library is actively maintained and extensively tested across Windows, macOS, and Linux platforms.","worth_installing":"Yes, with conditions. Install if you need production-grade rigid-body dynamics and can work with the compiled dependency stack. The library is actively maintained, permissively licensed (BSD-3-Clause), and widely deployed. On macOS and Windows, prefer Conda installation over pip; on Linux, pip is available but requires underlying C++ libraries. No known security vulnerabilities."},"id":"pin","links":{"html":"https://skillfed.io/packages/pin","md":"https://skillfed.io/packages/pin.md","pypi":"https://pypi.org/project/pin/"},"maintenance":{"status":"active"},"meta":{"latest_release":"2026-07-08","license_spdx":"BSD-3-Clause","license_treatment":"permissive","name":"pin","python_support":"supports_current","summary":"A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives"},"popularity":{"monthly_downloads":1105874,"position":4365,"tier":"top_5000"},"security":{"n_vulnerabilities":0},"version":"4.1.0"}