We have some work in progress in that area (i.e. planning via direct transcription of optimal control problems with CasADi) at https://github.com/ami-iit/hippopt . We do not use Pinocchio but a Python-based implementation of the usual robotics dynamics algorithms available at https://github.com/ami-iit/adam .
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I'm particularly interested in https://github.com/ami-iit/liecasadi which crops up in the code.