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Pinocchio v4.1.0: Native URDF v1.2 Capsule Support and Joint Limits

Why it mattersNew Pinocchio natively parses capsule shapes from URDF v1.2 and auto-loads joint acceleration/jerk limits for smoother, safer motion.

Pinocchio is a library for robot dynamics computation. This update enables full parsing of the latest URDF v1.2 robot description files, with native support for capsule shapes, eliminating inaccurate cylinder approximations. It also automatically loads joint acceleration and jerk limits from URDF files and exposes them in the model, helping to plan smoother and hardware-friendly motions.

What changed

  • Natively parse capsule geometries in URDF v1.2 for more accurate collision and visual detection.
  • Automatically load joint acceleration and jerk limits from URDF and expose them in the model interface.
  • Add a new overload for joint creation to pass acceleration and jerk limits directly.
  • Introduce a precompiled headers (PCH) CMake option to significantly speed up Python bindings compilation.
  • Add a CMake option to selectively compile visualization backends, reducing binary size and build time.
Pinocchiochangelogreleaseprojectv4.1.0GitHubupdate

Source: GitHub Releases · July 7, 2026

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What changed

  • Natively parse capsule geometries in URDF v1.2 for more accurate collision and visual detection.
  • Automatically load joint acceleration and jerk limits from URDF and expose them in the model interface.
  • Add a new overload for joint creation to pass acceleration and jerk limits directly.
  • Introduce a precompiled headers (PCH) CMake option to significantly speed up Python bindings compilation.
  • Add a CMake option to selectively compile visualization backends, reducing binary size and build time.

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