TSID
- Software
- Humanoids and robot learning
- Library
TSID is a C++ library for optimization-based inverse-dynamics control of robots, built on the Pinocchio rigid multi-body dynamics library, with Python bindings.
Made by Stack Of Tasks development team.
Source on GitHub: github.com/stack-of-tasks/tsid (opens in a new tab). Facts read at commit 25762a2 (opens in a new tab).
Licenses
- Code
- BSD-2-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-2-Clause) at commit 25762a2 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Provides task-space inverse-dynamics control for multi-body robots, built on the Pinocchio dynamics library.
- Includes exercises in Python for robot manipulators, humanoids and quadrupeds.
- Offers Python bindings based on Boost.Python and EigenPy.
- Can be installed with Conda, from Debian/Ubuntu packages via robotpkg, or compiled from sources with CMake.
- Includes a demo for the Romeo humanoid that can be viewed with gepetto-viewer.
Written by Robotheca from the project's README (opens in a new tab) at commit 25762a2.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 7 Oct 2026 on devel
- Latest release
- Release v1.10.0 (14 Apr 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.