This is also a first-order solver then, like OSQP?

Interestingly enough ADMM and Chambolle-Pock can be thought as "cousins" :)

The Pinocchio 4.0.0 package is now available on conda :)

anaconda.org/channels/con...

Happy to hear it! Using Boost.Python was always a pet peeve of mine when binding C++ that depends on Pinocchio (many of my Inria colleagues can attest)

Add support for Eigen's Tensor module by ManifoldFR · Pull Request #1320 · wjakob/nanobind This PR adds support for the types in Eigen's "unsupported" Tensor module, from the header <unsupported/Eigen/CXX11/Tensor> (we keep CXX11/ in the include to support Eigen3). To...

This actually required contributing some code to support Eigen's Tensor module to nanobind:

github.com/wjakob/nanob...

Upgrade Pinocchio Python bindings to nanobind by ManifoldFR · Pull Request #2873 · stack-of-tasks/pinocchio Description This pull request adds a new set of Python bindings using the modern nanobind Python bindings framework. The new set of bindings is a full replacement of the Boost.Python bindings, whic...

And as a follow-up: we're working on upgrading the Python bindings for Pinocchio to the more modern nanobind framework:

github.com/stack-of-tas...

Release pinocchio 4.0.0 · stack-of-tasks/pinocchio What's Changed Highlights lcaba algorithm: Compute forward dynamics for constrained system with closed kinematics loops Python example here New constraint API: PointContactConstraintModelTpl...

Version 4.0 of the Pinocchio rigid-body algorithm library has been released!

Includes more models and algorithms for contact and constraint modelling, including frictional contact.

Release on your favourite package managers coming soon 😃

check out the release log:
github.com/stack-of-tas...

No contact phase planning, just straightforward, "simple" optimisation under complementarity constraints 😁

Frictional contact-implicit operational space control in SIMPLE, coming soon to an arxiv and git repo near you! 😃

Tired of lengthy computations to derive scaling laws? This post is made for you: discover the sharpness of the z-transform!
francisbach.com/z-transform/

Playing around in our simulator (SIMPLE, in alpha) and renderer (Candlewick, found here: github.com/Simple-Robot...)

Release v1.92.1 · ocornut/imgui v1.92.1: Maintenance release ❤️ Previous summer was the 10th anniversary of v1.00! Read: 10 years of Dear ImGui ! 🎉 ✋ Reading the changelog is a good way to keep up to date with what Dear ImGui has...

dear imgui 1.92.1 released!
github.com/ocornut/imgu...

Maintenance/followup release with various fonts & backends related fixes (e.g. Emscripten content scaling fixes. Vulkan fixes. Raw OSX backend fix for multi-viewports)

The old Boost.Python bindings will remain for a while as we transition the rest of our stack (yes, including Pinocchio!) to nanobind this year.

Introduce next-generation Python bindings using `nanobind` by ManifoldFR · Pull Request #659 · coal-library/coal This (draft) pull request adds a second set of Python bindings using the modern nanobind bindings generator. The new nanobind-based API can be imported as a replacement for the old one by importing...

Very happy to announce that our collision algorithms library Coal (formerly HPP-FCL) now supports @wjakob.bsky.social's nanobind for its Python bindings! 😀

github.com/coal-library...

The new bindings will be available in package managers in the next release.

Starting to do push-ups in the new simulator (Simple) with a full-fat NCP friction model.
PD controller script from Fabian Schramm.

Testing out implementing inverse dynamics in our new simulator (SIMPLE)

GitHub - jsoulier/blocks: Tiny Minecraft clone in C and GLSL using the new SDL3 GPU API Tiny Minecraft clone in C and GLSL using the new SDL3 GPU API - jsoulier/blocks

Cool project I found reimplementing a tiny minecraft clone using the new GPU API in SDL3
@sdlcommits.libsdl.org

github.com/jsoulier/blo...

Release candlewick v0.0.1 · ManifoldFR/candlewick This is the first (pre-)release of candlewick, a renderer based on SDL3's GPU API. Merged PRs Remove Shape class, make Mesh own its buffers, add MeshView class by @ManifoldFR in #1 Make multibody:...

I've just made the first pre-release (v0.0.1) of Candlewick, my #SDL3 -based renderer for robotics applications (visualizing stuff from Pinocchio, namely)
github.com/ManifoldFR/c...

Annoucement - Switch to nanobind · Issue #2616 · stack-of-tasks/pinocchio We are in the process of switching from Boost.Python to nanobind in Pinocchio. The overall objective is, among other objectives, to: reduce the size of Python modules with similar or improved perfo...

Software announcement: later this year, the Pinocchio rigid-body dynamics library will be switching to nanobind (from the legacy Boost.Python) for its Python bindings!
Read the announcement here: github.com/stack-of-tas...

New post up on personal site about the new (very much WIP) #SDL3 -based renderer I made for robotics applications:
manifoldfr.github.io/news/rendere...

GitHub - ManifoldFR/candlewick Contribute to ManifoldFR/candlewick development by creating an account on GitHub.

I started working on a cross-platform 3D renderer (for robotics) based on SDL3's GPU API
github.com/ManifoldFR/c...