Joris Vaillant

Hello @MR-KNV, Can you give us a script to reproduce your issue ? The method is described in this paper [Justin Carpentier 2021](https://inria.hal.science/hal-03271811/file/rss-proximal-and-sparse.pdf)

Hello @UM-A, Pinocchio 2 is only supporting Casadi in C++. The Python support will be added in Pinocchio 3 that is not released and not public. Hopefully a pre-release is...

Hello @duburcqa, @seberg, Thank for digging the issue. We can close this PR since #496 had been merged. We made the decision to turn EIGENPY_ARRAY_API public like it was in...

It's still not merged on eigenpy. I have a last check to do: is it convenient to work with multiple source project and pixi ?

Oh boy, I forget this one ! We can close it :)

@jcarpent Do you think is a good idea to create dedicated type to store pseudo inertia and log cholesky parametrization ? - Provide dedicated constructor to easily create this matrices...

Hello @simeon-ned and @lvjonok, > There is a specific function FromDynamicParameters. For InertiaTpl, it is defined as a template over Vector10, but we haven't introduced it for PseudoInertiaTpl and LogCholeskyTpl....

I will work on the **crash** issue since it also affect InertiaTpl. If you want I can also address myself the last issues since it's really minor.

All green we can merge. @simeon-ned, @lvjonok once again, thank you for your contribution !

Hello @budzianowski, You have compiled pinocchio 3 in Debug mode. Did you have also compiled pinocchio 2 in Debug mode ? If it's not the case it's normal the assert...