Pinocchio 3.4.0 - Enhanced MJCF Parsing and Cross‑Platform Refinements

The Pinocchio 3.4.0 release delivers targeted improvements across its MJCF support, Python bindings, and build configurations.

This update introduces mesh parsing with vertex data for MJCF model, broadening geometric compatibility for robot descriptions. MJCF handling has been further refined with corrections to Euler‑angle interpretation (now defaulting to xyz sequencing), more reliable keyframe qpos parsing even with embedded newlines, and accurate site definition reading.

On the development side, variable naming in Python bindings and ABA template instantiations have been standardized, while the macOS build system gains a corrected RPATH configuration. Unused legacy flags related to C++11 support have been removed, simplifying maintenance.

Together, these refinements make Pinocchio 3.4.0 a cleaner and more dependable library for robotics modeling and simulation.

Links

Pinocchio 3.4 Release Note