Issues

• [Bug]: MJCF weld anchors ignore the body-to-joint placement

  bugcore developers
  stack-of-tasks/pinocchio#2971 · Filter by author j-matheron opened on Oct 30, 2026
  

• [Bug]: computeGeneralizedGravityDerivatives give wrong values Universal, SphericalXYZ, Ellipsoid joints.

  bug
  stack-of-tasks/pinocchio#2967 · Filter by author Ipuch opened on Oct 7, 2026
  5

  

• [Bug]: MJCF connect anchors ignore the body-to-joint placement

  stack-of-tasks/pinocchio#2962 · Filter by author INo-xious opened on Sep 30, 2026
  1

• Array isapprox treats epsilon as a relative tolerance

  stack-of-tasks/pinocchio#2958 · Filter by author SashaMIT opened on Sep 28, 2026
  1

• [Typo]: french spelling biais has spread instead of bias.

  stack-of-tasks/pinocchio#2941 · Filter by author Ipuch opened on Aug 27, 2026

• [Feature]: parse collision information in the MJCF

  feature requestready
  stack-of-tasks/pinocchio#2922 · Filter by author TheotimeLH opened on Jul 9, 2026
  1

• [Feature]: Support static library build

  feature requestready
  stack-of-tasks/pinocchio#2918 · Filter by author j-matheron opened on Jul 3, 2026
  

• [Feature]: Remove urdfdom < 6 capsule workaround

  feature request
  stack-of-tasks/pinocchio#2913 · Filter by author jorisv opened on Jun 24, 2026
  1

• [Feature]: Define Joint Spline behaviour outside of its bounds

  feature request
  stack-of-tasks/pinocchio#2908 · Filter by author MegMll opened on Jun 17, 2026

• Policy CMP0167 is not set

  bugready
  stack-of-tasks/pinocchio#2906 · Filter by author christophfroehlich opened on Jun 11, 2026
  1

  

• test cpp serialization fail in macos full, but pass in macos split

  stack-of-tasks/pinocchio#2885 · Filter by author nim65s opened on May 11, 2026

• [Feature]: Add OcTree Visualization For Viser

  feature requestready
  stack-of-tasks/pinocchio#2868 · Filter by author CihatAltiparmak opened on Apr 5, 2026
  1

• [Bug]: Changing Root Joint doesn't do anything

  bug
  stack-of-tasks/pinocchio#2862 · Filter by author raabuchanan opened on Mar 18, 2026
  5

• [Feature]: Batch Computation

  feature request
  stack-of-tasks/pinocchio#2851 · Filter by author Entongsu opened on Feb 19, 2026
  2

• Handle deprecation of top-level comma expression in array subscripts -Wdeprecated-comma-subscript

  c++
  stack-of-tasks/pinocchio#2837 · Filter by author ManifoldFR opened on Jan 15, 2026
  1

  

• [Feature]: Replace boost::variant by boost::variant::variant2

  core developersfeature request
  Feature

  stack-of-tasks/pinocchio#2819 · Filter by author jorisv opened on Dec 1, 2025

• [Bug]: Constraint_models are not updated when building a reduced model

  feature request
  stack-of-tasks/pinocchio#2816 · Filter by author aled96 opened on Nov 27, 2025
  2

  

• Bug Report: pinocchio::log6 fails with NaN

  bug
  stack-of-tasks/pinocchio#2768 · Filter by author oomcth opened on Sep 22, 2025
  5

• Transforming of Jacobian / Jacobian Time Derivative Functionality

  stack-of-tasks/pinocchio#2740 · Filter by author Nickick-ICRS opened on Aug 5, 2025

• Inverse/Forward Dynamics of a closed kinematic chain robot

  stack-of-tasks/pinocchio#2729 · Filter by author deepakr2210 opened on Jul 15, 2025
  2

• how to get second derivative of the Jacobian with respect to the time.

  stack-of-tasks/pinocchio#2726 · Filter by author oridong opened on Jul 13, 2025
  3

• Forward Dynamics Second-Order Derivatives

  ready
  stack-of-tasks/pinocchio#2691 · Filter by author shubhamsingh91 opened on May 30, 2025
  2

  

• Handling Gripper Width with Mimic Joints

  stack-of-tasks/pinocchio#2676 · Filter by author HarisCavkic opened on May 6, 2025
  2

• Annoucement - Switch to nanobind

  ready
  stack-of-tasks/pinocchio#2616 · Filter by author jcarpent opened on Mar 12, 2025
  10

  

• With pixi, tests link to pinocchio in .pixi/envs folder

  ready
  stack-of-tasks/pinocchio#2615 · Filter by author abussy-aldebaran opened on Mar 11, 2025
  10