Major Release Pinocchio 3.0
A Major Leap in Robotics Simulation with Constrained Dynamics Support and Frictional Contact Solvers
The latest Pinocchio 3.0 release delivers groundbreaking enhancements for robotics simulation and optimization.
Major improvements include frictional contact solvers (PGS, ADMM), enhanced constrained dynamical systems, new joint types (Helicoidal, Universal), and optimized parallel computation with OpenMP. With automatic differentiation fully supported across Casadi, Boost.Multiprecision, and CppAD, developers gain powerful tools for gradient-based algorithms. Compatibility has also expanded with SDF and MuJoCo parsers and enhanced Windows system support.
This update cements Pinocchio’s role as a state-of-the-art library for robotics research and real-world deployment.