@@ -52,7 +52,7 @@ If you want to learn more on **Pinocchio** internal behaviors and main features,
## Performances
**Pinocchio** exploits at best the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, **Pinocchio** is able to unroll most of the computations, allowing to achieve impressive performances for a large range of robots, as illustrated by the plot below, whose figures were obtained on a standard laptop equipped with an Intel Core i7 CPU @ 2.4 GHz.
**Pinocchio** exploits at best the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, **Pinocchio** is able to unroll most of the computations directly at compile time, allowing to achieve impressive performances for a large range of robots, as illustrated by the plot below, obtained on a standard laptop equipped with an Intel Core i7 CPU @ 2.4 GHz.
