State of Pinocchio 3

[JonathanKuelz]

Dear pinocchio team,

as far as I know, you are working on pinocchio 3.x for a while now and it seems that lots of interesting new features (especially support of closed chain kinematics) have been implemented already. However, the last update on the project is a couple of months ago.

Browsing through issues on pin3.x features [1], [2] it seems like the process is already come quite far. I was wondering if there's already an ETA on a stable release of pin 3?

The reason I'm asking is that I am relying on pinocchio for my own toolbox Timor [by the way, thanks again for providing pinocchio as open source project which has done some heavy work for me already!] where I am currently considering adding support for closed-chain kinematics. I would love to do that with pinocchio, but am currently not sure how stable the current preview version is.