pinocchio 4.0.0 A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives. Justin Carpentier Wolfgang Merkt Guilhem Saurel BSD-2-Clause https://github.com/stack-of-tasks/pinocchio git doxygen jrl_cmakemodules doxygen texlive-latex-base ros_environment python3 python3-numpy urdfdom eigen boost eigenpy coal clang cmake cmake