Pinocchio

Fast C++/Python rigid-body dynamics library with analytical derivatives; a common backbone for kinematics, optimal control (e.g. Crocoddyl) and legged/humanoid control stacks.高性能 C++/Python 刚体动力学库，提供解析导数；是运动学、最优控制（如 Crocoddyl）以及足式/人形机器人控制栈的常用底座。