Pinocchio Casadi can be interfaced with bioptim.

[Pierre Puchaud]

From a discussion with @fbailly, @jcarpent, @pariterre,
It's possible to interface bioptim with Pinocchio Casadi, with a version from conda.
https://github.com/nmansard/jnrh2023/tree/main

Thus, it would be maintainable. It would only work with SX for now. We can load urdf models. And implement a pendulum version from it.