Nanobind python bindings & Pinocchio 4 release timeline

[PepMS]

Hello team,

First, thanks a lot for Pinocchio and the other tools you maintain. Pinocchio in particular has become a core dependency in my work.

I’m currently developing a tool based on Pinocchio and need to generate Python bindings using nanobind.

I saw in this issue and this PR that the nanobind port is already underway and planned for Pinocchio 4.
Do you have an approximate timeline for the Pinocchio 4 release?

Thanks in advance.

Pep

[ManifoldFR]

Hi Pep!

The team is still working hard on getting Pinocchio 4 out the door in a satisfactory state.

As for nanobind support we've had to push that back to a follow-up release (4.1 I think @jorisv ?) since Pinocchio 4 already has a large slate of changes and we need more time to write and integrate these new bindings correctly.

[jorisv]

I don't know when we will be able to release the pinocchio nanobind python binding.

As far as I understand, nanobind Eigen <=> Numpy conversion doesn't support custom scalar type (Casadi, CppAD, CppADCG, Boost.MPFR). So we will have to implement our own conversion that will take a large amount of development time.

If you need this feature soon, I think it's better to find another way to achieve your goal:

• Bind yourself Pinocchio feature you need
• Or, allow nanobind to extract Pinocchio object from Boost.Python binding like we did for PyBind11

[PepMS]

Thanks a lot for your quick replies!

Got it, I'll try to take a similar approach to what you did with PyBind11. In case I get anything useful I'll let you know.