pinocchio 3.6.0 A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives. Justin Carpentier Wolfgang Merkt Guilhem Saurel BSD-2 https://github.com/stack-of-tasks/pinocchio git doxygen doxygen texlive-latex-base ros_environment catkin python3 python3-numpy urdfdom liburdfdom-dev eigen boost eigenpy hpp-fcl clang cmake cmake