Currently pinocchio::impulseDynamics allocates internally memory, do not use it for multithreading
I have been working on #271 (closed), and I noticed that part of the non-deterministic behavior of the solver is that pinoccho::impulseDynamics
allocates internally memory, and I reported it few weeks ago: https://github.com/stack-of-tasks/pinocchio/issues/881.
@wxmerkt and @proyan be aware of it, and do not waste your time.
For more elaborate discussion, I suggest to use the Pinocchio issue.