Introducing Pinocchio 3
**Pinocchio3** is released for development under the branch [pinocchio3-preview](https://github.com/stack-of-tasks/pinocchio/tree/pinocchio3-preview) on the main github repository.
With **Pinocchio3**, multiple new features are introduced in **Pinocchio**, such as:
- Sparse Solution of Constrained Dynamics (Published in Robotics: Science and Systems 2021)
- Constrained Dynamics Derivatives (In pre-publishing stages)
- Constraint Models for handling loop constraints.
- Full casadi support in python and C++
- Introduction of pinocchio.casadi module
- Increased support of CppAD and CppADCodeGen
- New SDF parser.
- Enhanced LOCAL_WORLD_ALIGNED and LOCAL frame support
- Support for motor armature in algorithms
- Mechanical Energy of the system
- Classical and Point Accelerations and Derivatives
- Full Serialization support
- and much more...
**Pinocchio** developers are highly encouraged to check out the new features. However, please keep in mind that this remains a **development** branch, and thus the API between 2.9.x and 2.9.{x+1} could change without backward compatibility.
The new constrained dynamics algorithm can be cited by the following publication:
bibtex
inproceedings{carpentier:hal-03271811,
TITLE = {{Proximal and Sparse Resolution of Constrained Dynamic Equations}},
AUTHOR = {Carpentier, Justin and Budhiraja, Rohan and Mansard, Nicolas},
URL = {https://hal.inria.fr/hal-03271811},
BOOKTITLE = {{Robotics: Science and Systems 2021}},
ADDRESS = {Austin / Virtual, United States},
YEAR = {2021},
MONTH = Jul,
PDF = {https://hal.inria.fr/hal-03271811/file/rss-proximal-and-sparse.pdf},
HAL_ID = {hal-03271811},
HAL_VERSION = {v1},
}