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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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Unable to compile bipedal-locomotion-framework in docker + conda #418

Closed GiulioRomualdi closed 1 year ago

GiulioRomualdi commented 3 years ago

I'm trying to compile blf in a docker environment with conda to pack a simple experiment for https://github.com/ami-iit/centroidal-mpc-walking.

In the image sha256:0d2b33615ef73f65cdb4a8534179f5cba38e5a21c41a52e90a12d4f00e373698 I forgot to install whole-body-estimators so I tried to regenerate a new image as follow

  1. I create a docker container with 
    docker run -it  --device=/dev/dri:/dev/dri --env="DISPLAY=$DISPLAY"  --net=host condaforge/mambaforge:4.9.2-5
  2. I installed the apt dependencies 
    apt install -y -qq build-essential ca-certificates cmake cmake-curses-gui  curl emacs-nox git glmark2 gnupg2 htop iputils-ping lsb-release mesa-utils nano psmisc sudo unzip vim wget libqt5opengl5-dev
  3. Then the conda one 
    mamba install -c conda-forge -c robotology idyntree yarp libmatio matio-cpp lie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog catch2 nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl tomlplusplus whole-body-estimators cmake compilers make ninja pkg-config gazebo-yarp-plugins expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64

When I try to compile blf I got the following error

/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: warning: libcasadi.so.3.6, needed by ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100, not found (try using -rpath or -rpath-link)
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::SharedObject::~SharedObject()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::solve()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::MX(casadi::MX const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Sparsity::is_row() const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Function::map(long long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::parameter(long long, long long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::Opti(casadi::Opti const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::unary(long long, casadi::Matrix<double> const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Function::~Function()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::MX(double)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Sparsity::size1() const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::OptiSol::value(casadi::MX const&, std::vector<casadi::MX, std::allocator<casadi::MX> > const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::SharedObject::operator=(casadi::SharedObject const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::GenericType::GenericType(long long)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::vertcat(std::vector<casadi::MX, std::allocator<casadi::MX> > const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::binary(long long, casadi::Matrix<double> const&, casadi::Matrix<double> const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::MX()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::binary(long long, casadi::MX const&, casadi::MX const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::Matrix(casadi::Sparsity const&, double const&, bool)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::subject_to(casadi::MX const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::set_initial(casadi::MX const&, casadi::Matrix<double> const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::MX(casadi::Matrix<double> const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::get(casadi::Matrix<double>&, bool, casadi::Slice const&, casadi::Matrix<long long> const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::get(casadi::MX&, bool, casadi::Slice const&, casadi::Slice const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::T() const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::MX()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::Matrix()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::variable(long long, long long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Function::Function(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::initializer_list<casadi::MX>, std::initializer_list<casadi::MX>, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, casadi::GenericType, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, casadi::GenericType> > > const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::set_value(casadi::MX const&, casadi::Matrix<double> const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::mtimes(casadi::MX const&, casadi::MX const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::get(casadi::MX&, bool, casadi::Matrix<long long> const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::Matrix(double)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Sparsity::dense(long long, long long)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::get(casadi::Matrix<double>&, bool, casadi::Matrix<long long> const&, casadi::Matrix<long long> const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::Opti(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::_sym(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, casadi::Sparsity const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::get(casadi::Matrix<double>&, bool, casadi::Matrix<long long> const&, casadi::Slice const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::GenericType::GenericType(bool)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::minimize(casadi::MX const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Opti::solver(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, casadi::GenericType, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, casadi::GenericType> > > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, casadi::GenericType, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, casadi::GenericType> > > const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::sparsity() const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::Matrix(std::vector<double, std::allocator<double> > const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Sparsity::is_scalar(bool) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::dot(casadi::MX const&, casadi::MX const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::get(casadi::MX&, bool, casadi::Slice const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::get(casadi::MX&, bool, casadi::Slice const&, casadi::Matrix<long long> const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Function::Function()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::resize(long long, long long)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::get(casadi::MX&, bool, casadi::Matrix<long long> const&, casadi::Matrix<long long> const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Slice::Slice(int, int, int)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::GenericType::GenericType()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Slice::Slice()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Function::operator()(std::vector<casadi::MX, std::allocator<casadi::MX> > const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::~MX()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::operator double() const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Slice::Slice(int, long long, int)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<long long>::Matrix(double)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::~MX()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::MX::MX(casadi::Sparsity const&, double, bool)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::get(casadi::Matrix<double>&, bool, casadi::Slice const&, casadi::Slice const&) const'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::GenericType::GenericType(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::Matrix()'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Matrix<double>::operator=(casadi::Matrix<double> const&)'
/opt/conda/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: ../../lib/libBipedalLocomotionFrameworkPlanners.so.0.3.100: undefined reference to `casadi::Sparsity::size2() const'
collect2: error: ld returned 1 exit status
make[2]: *** [utilities/joint-position-tracking/CMakeFiles/joint-position-tracking.dir/build.make:140: bin/blf-joint-position-tracking-0.3.100] Error 1
make[1]: *** [CMakeFiles/Makefile2:1928: utilities/joint-position-tracking/CMakeFiles/joint-position-tracking.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

There seems there it a problem with casadi however,

pkg-config --libs casadi
-L/opt/conda/lib -lcasadi


Environment (conda list):

``` mamba list __ __ __ __ / \ / \ / \ / \ / \/ \/ \/ \ ███████████████/ /██/ /██/ /██/ /████████████████████████ / / \ / \ / \ / \ \____ / / \_/ \_/ \_/ \ o \__, / _/ \_____/ ` |/ ███╗ ███╗ █████╗ ███╗ ███╗██████╗ █████╗ ████╗ ████║██╔══██╗████╗ ████║██╔══██╗██╔══██╗ ██╔████╔██║███████║██╔████╔██║██████╔╝███████║ ██║╚██╔╝██║██╔══██║██║╚██╔╝██║██╔══██╗██╔══██║ ██║ ╚═╝ ██║██║ ██║██║ ╚═╝ ██║██████╔╝██║ ██║ ╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝╚═════╝ ╚═╝ ╚═╝ mamba (0.7.8) supported by @QuantStack GitHub: https://github.com/mamba-org/mamba Twitter: https://twitter.com/QuantStack █████████████████████████████████████████████████████████████ # packages in environment at /opt/conda: # # Name Version Build Channel _libgcc_mutex 0.1 conda_forge conda-forge _openmp_mutex 4.5 1_gnu conda-forge ace 7.0.3 h9c3ff4c_0 conda-forge alsa-lib 1.2.3 h516909a_0 conda-forge ampl-mp 3.1.0 h2cc385e_1005 conda-forge assimp 5.0.1 hedfc422_6 conda-forge atk-1.0 2.36.0 h3371d22_4 conda-forge attrs 21.2.0 pyhd8ed1ab_0 conda-forge backcall 0.2.0 pyh9f0ad1d_0 conda-forge backports 1.0 py_2 conda-forge backports.functools_lru_cache 1.6.4 pyhd8ed1ab_0 conda-forge binutils 2.36.1 hdd6e379_2 conda-forge binutils_impl_linux-64 2.36.1 h193b22a_2 conda-forge binutils_linux-64 2.36 hf3e587d_1 conda-forge boost-cpp 1.74.0 h312852a_4 conda-forge brotlipy 0.7.0 py38h8df0ef7_1001 conda-forge bullet-cpp 3.17 h1abd341_0 conda-forge bzip2 1.0.8 h7f98852_4 conda-forge c-ares 1.17.1 h36c2ea0_0 conda-forge c-compiler 1.3.0 h7f98852_0 conda-forge ca-certificates 2021.7.5 h06a4308_1 cairo 1.16.0 h6cf1ce9_1008 conda-forge casadi 3.5.5 py38h08e9112_6 conda-forge catch2 2.13.7 h4bd325d_0 conda-forge certifi 2021.5.30 py38h578d9bd_0 conda-forge cffi 1.14.4 py38ha65f79e_1 conda-forge cfitsio 3.470 hb418390_7 conda-forge chardet 4.0.0 py38h578d9bd_0 conda-forge cmake 3.21.3 h8897547_0 conda-forge compilers 1.3.0 ha770c72_0 conda-forge conda 4.9.2 py38h578d9bd_0 conda-forge conda-package-handling 1.7.2 py38h8df0ef7_0 conda-forge console_bridge 1.0.1 hc9558a2_0 conda-forge cppad 20210000.7 h9c3ff4c_2 conda-forge cppzmq 4.8.1 hf7cf922_0 conda-forge cryptography 3.3.1 py38h2b97feb_0 conda-forge curl 7.79.1 hea6ffbf_0 conda-forge cxx-compiler 1.3.0 h4bd325d_0 conda-forge dartsim 6.10.1 he39ca3a_1 conda-forge dbus 1.13.18 hb2f20db_0 decorator 5.1.0 pyhd8ed1ab_0 conda-forge eigen 3.4.0 h4bd325d_0 conda-forge expat 2.4.1 h9c3ff4c_0 conda-forge expat-cos6-x86_64 2.0.1 h9b0a68f_1105 conda-forge fcl 0.6.1 h2cbc392_3 conda-forge ffmpeg 4.3.2 hca11adc_0 conda-forge flann 1.9.1 h44f99b7_1008 conda-forge font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge font-ttf-inconsolata 3.000 h77eed37_0 conda-forge font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge font-ttf-ubuntu 0.83 hab24e00_0 conda-forge fontconfig 2.13.1 hba837de_1005 conda-forge fonts-conda-ecosystem 1 0 conda-forge fonts-conda-forge 1 0 conda-forge fortran-compiler 1.3.0 h1990efc_0 conda-forge freeglut 3.2.1 h9c3ff4c_2 conda-forge freeimage 3.18.0 hadfbfc9_7 conda-forge freetype 2.10.4 h0708190_1 conda-forge freexl 1.0.6 h7f98852_0 conda-forge fribidi 1.0.10 h516909a_0 conda-forge gazebo 11.8.1 hf1d4fb3_0 conda-forge gazebo-yarp-plugins 4.0.0 ha8e367e_27 robotology gcc 9.4.0 h192d537_1 conda-forge gcc_impl_linux-64 9.4.0 h03d3576_8 conda-forge gcc_linux-64 9.4.0 h391b98a_1 conda-forge gdbm 1.18 h0a1914f_2 conda-forge gdk-pixbuf 2.42.6 h04a7f16_0 conda-forge geos 3.9.1 h9c3ff4c_2 conda-forge geotiff 1.6.0 h4f31c25_6 conda-forge gettext 0.21.0 hf68c758_0 gfortran 9.4.0 h2018a41_1 conda-forge gfortran_impl_linux-64 9.4.0 h0003116_8 conda-forge gfortran_linux-64 9.4.0 hf0ab688_1 conda-forge giflib 5.2.1 h516909a_2 conda-forge glib 2.68.4 h9c3ff4c_0 conda-forge glib-tools 2.68.4 h9c3ff4c_0 conda-forge gmp 6.2.1 h58526e2_0 conda-forge gnutls 3.6.15 he1e5248_0 graphite2 1.3.14 h23475e2_0 graphviz 2.49.0 h85b4f2f_0 conda-forge gsl 2.6 he838d99_2 conda-forge gst-plugins-base 1.18.5 hf529b03_0 conda-forge gstreamer 1.18.5 h76c114f_0 conda-forge gtk2 2.24.33 h539f30e_1 conda-forge gts 0.7.6 h64030ff_2 conda-forge gxx 9.4.0 h192d537_1 conda-forge gxx_impl_linux-64 9.4.0 h03d3576_8 conda-forge gxx_linux-64 9.4.0 h0316aca_1 conda-forge harfbuzz 2.9.1 h83ec7ef_0 conda-forge hdf4 4.2.15 h10796ff_3 conda-forge hdf5 1.10.6 nompi_h6a2412b_1114 conda-forge icu 68.1 h58526e2_0 conda-forge icub-firmware-shared 1.21.0 h9c3ff4c_27 robotology icub-main 1.21.0 hdf3df36_27 robotology idna 2.10 pyh9f0ad1d_0 conda-forge idyntree 4.2.0 py38hb42c0b0_0 conda-forge ilmbase 2.5.5 h780b84a_0 conda-forge iniconfig 1.1.1 pyh9f0ad1d_0 conda-forge ipopt 3.14.4 h7ede334_0 conda-forge ipython 7.27.0 py38he5a9106_0 conda-forge irrlicht 1.8.4 hdaeae82_1 conda-forge jasper 1.900.1 h07fcdf6_1006 conda-forge jbig 2.1 h7f98852_2003 conda-forge jedi 0.18.0 py38h578d9bd_2 conda-forge jpeg 9d h516909a_0 conda-forge json-c 0.15 h98cffda_0 conda-forge jsoncpp 1.9.4 h4bd325d_3 conda-forge jxrlib 1.1 h516909a_2 conda-forge kealib 1.4.14 hcc255d8_2 conda-forge kernel-headers_linux-64 2.6.32 he073ed8_14 conda-forge krb5 1.19.2 hcc1bbae_0 conda-forge lame 3.100 h14c3975_1001 conda-forge lcms2 2.12 hddcbb42_0 conda-forge ld_impl_linux-64 2.36.1 hea4e1c9_2 conda-forge lerc 2.2.1 h9c3ff4c_0 conda-forge libarchive 3.5.2 hccf745f_0 conda-forge libblas 3.9.0 11_linux64_openblas conda-forge libcblas 3.9.0 11_linux64_openblas conda-forge libccd 2.1 he1b5a44_1 conda-forge libclang 11.1.0 default_ha53f305_1 conda-forge libcurl 7.79.1 h2574ce0_0 conda-forge libdap4 3.20.6 hd7c4107_2 conda-forge libdc1394 2.2.6 he1b5a44_0 conda-forge libdeflate 1.7 h7f98852_5 conda-forge libdrm-cos6-x86_64 2.4.65 h9b0a68f_1105 conda-forge libedit 3.1.20191231 he28a2e2_2 conda-forge libev 4.33 h516909a_1 conda-forge libevent 2.1.10 hcdb4288_3 conda-forge libffi 3.3 h58526e2_2 conda-forge libgcc-devel_linux-64 9.4.0 hd854feb_8 conda-forge libgcc-ng 11.2.0 h1d223b6_8 conda-forge libgd 2.3.3 h6ad9fb6_0 conda-forge libgdal 3.3.1 h07ae0cd_2 conda-forge libgfortran-ng 11.2.0 h69a702a_8 conda-forge libgfortran5 11.2.0 h5c6108e_8 conda-forge libglib 2.68.4 h3e27bee_0 conda-forge libglu 9.0.0 he1b5a44_1001 conda-forge libgomp 11.2.0 h1d223b6_8 conda-forge libiconv 1.16 h516909a_0 conda-forge libidn2 2.3.2 h7f98852_0 conda-forge libignition-cmake2 2.9.0 h9c3ff4c_0 conda-forge libignition-common3 3.13.2 ha44c05f_1 conda-forge libignition-fuel-tools4 4.4.0 h9ff2376_1 conda-forge libignition-math6 6.8.0 h9c3ff4c_0 conda-forge libignition-msgs5 5.7.0 hdf5dbbc_0 conda-forge libignition-tools1 1.2.0 h33ecc0d_1 conda-forge libignition-transport8 8.1.0 ha5287fc_7 conda-forge libjpeg-turbo 2.1.0 h7f98852_0 conda-forge libkml 1.3.0 h238a007_1014 conda-forge liblapack 3.9.0 11_linux64_openblas conda-forge liblapacke 3.9.0 11_linux64_openblas conda-forge libllvm11 11.1.0 hf817b99_2 conda-forge libmatio 1.5.21 h9e294dc_0 conda-forge libnetcdf 4.8.1 nompi_hcd642e3_100 conda-forge libnghttp2 1.43.0 h812cca2_0 conda-forge libode 0.16.2 h709712a_6 conda-forge libogg 1.3.5 h27cfd23_1 libopenblas 0.3.17 pthreads_h8fe5266_1 conda-forge libopencv 4.5.2 py38hd24989e_1 conda-forge libopus 1.3.1 h7f98852_1 conda-forge libosqp 0.6.2 h9c3ff4c_3 conda-forge libpng 1.6.37 hed695b0_2 conda-forge libpq 13.3 hd57d9b9_0 conda-forge libprotobuf 3.16.0 h780b84a_0 conda-forge libraw 0.20.2 h10796ff_1 conda-forge librsvg 2.50.7 hc3c00ef_0 conda-forge librttopo 1.1.0 h1185371_6 conda-forge libsanitizer 9.4.0 h79bfe98_8 conda-forge libsdformat 9.3.0 h33ecc0d_5 conda-forge libselinux-cos6-x86_64 2.0.94 h9b0a68f_1105 conda-forge libsepol-cos6-x86_64 2.0.41 h9b0a68f_1105 conda-forge libsodium 1.0.18 h516909a_1 conda-forge libsolv 0.7.16 h8b12597_0 conda-forge libspatialite 5.0.1 h8694cbe_6 conda-forge libssh2 1.10.0 ha56f1ee_0 conda-forge libstdcxx-devel_linux-64 9.4.0 hd854feb_8 conda-forge libstdcxx-ng 11.2.0 he4da1e4_8 conda-forge libtar 1.2.20 h7f98852_1003 conda-forge libtasn1 4.17.0 h7f98852_0 conda-forge libtiff 4.3.0 hf544144_1 conda-forge libtool 2.4.6 h9c3ff4c_1008 conda-forge libunistring 0.9.10 h14c3975_0 conda-forge libusb 1.0.24 h18f079d_4 conda-forge libuuid 2.32.1 h14c3975_1000 conda-forge libuv 1.42.0 h7f98852_0 conda-forge libvorbis 1.3.7 he1b5a44_0 conda-forge libwebp 1.2.1 h3452ae3_0 conda-forge libwebp-base 1.2.1 h7f98852_0 conda-forge libx11-common-cos6-x86_64 1.6.4 h9b0a68f_1105 conda-forge libx11-cos6-x86_64 1.6.4 h9b0a68f_1105 conda-forge libxau-cos6-x86_64 1.0.6 h9b0a68f_1105 conda-forge libxcb 1.14 h7b6447c_0 libxcb-cos6-x86_64 1.12 h9b0a68f_1105 conda-forge libxdamage-cos6-x86_64 1.1.3 h9b0a68f_1105 conda-forge libxext-cos6-x86_64 1.3.3 h9b0a68f_1105 conda-forge libxfixes-cos6-x86_64 5.0.3 h9b0a68f_1105 conda-forge libxkbcommon 1.0.3 he3ba5ed_0 conda-forge libxml2 2.9.12 h72842e0_0 conda-forge libxxf86vm-cos6-x86_64 1.1.3 h9b0a68f_1105 conda-forge libzip 1.8.0 h4de3113_0 conda-forge lie-group-controllers 0.1.1 h9c3ff4c_27 robotology lz4-c 1.9.3 h9c3ff4c_1 conda-forge lzo 2.10 h516909a_1000 conda-forge make 4.3 hd18ef5c_1 conda-forge mamba 0.7.8 py38h2aa5da1_1 conda-forge manif 0.0.4 h9c3ff4c_5 conda-forge manifpy 0.0.4 py38h12ecfe5_5 conda-forge matio-cpp 0.1.1 h15528fd_27 robotology matplotlib-inline 0.1.3 pyhd8ed1ab_0 conda-forge mesa-dri-drivers-cos6-x86_64 11.0.7 h9b0a68f_1105 conda-forge mesa-dri1-drivers-cos6-x86_64 7.11 h9b0a68f_1105 conda-forge mesa-libgl-cos6-x86_64 11.0.7 h9b0a68f_1105 conda-forge mesa-libgl-devel-cos6-x86_64 11.0.7 h9b0a68f_1105 conda-forge mesalib 18.3.1 h590aaf7_0 conda-forge meshcat-python 0.3.1 pyhd8ed1ab_0 conda-forge metis 5.1.0 he1b5a44_1006 conda-forge more-itertools 8.10.0 pyhd8ed1ab_0 conda-forge mumps-include 5.2.1 ha770c72_10 conda-forge mumps-seq 5.2.1 h47a8eb5_10 conda-forge mysql-common 8.0.25 ha770c72_2 conda-forge mysql-libs 8.0.25 hfa10184_2 conda-forge ncurses 6.2 h58526e2_4 conda-forge nettle 3.7.3 hbbd107a_1 ninja 1.10.2 h4bd325d_0 conda-forge nlohmann_json 3.10.2 h9c3ff4c_0 conda-forge nspr 4.30 h9c3ff4c_0 conda-forge nss 3.69 hb5efdd6_0 conda-forge numpy 1.21.2 py38he2449b9_0 conda-forge octomap 1.9.7 h4bd325d_0 conda-forge ogre 1.10.12 hf655ca9_7 conda-forge olefile 0.46 pyh9f0ad1d_1 conda-forge openal-soft 1.20.1 hc9558a2_0 conda-forge opencv 4.5.2 py38h578d9bd_1 conda-forge openexr 2.5.5 hf817b99_0 conda-forge openh264 2.1.1 h780b84a_0 conda-forge openjpeg 2.4.0 hb52868f_1 conda-forge openssl 1.1.1l h7f98852_0 conda-forge osqp-eigen 0.6.4 h9c3ff4c_1 conda-forge packaging 21.0 pyhd8ed1ab_0 conda-forge pango 1.48.10 hb8ff022_0 conda-forge parso 0.8.2 pyhd8ed1ab_0 conda-forge patchelf 0.13 h58526e2_0 conda-forge pcl 1.11.1 h39b1736_3 conda-forge pcre 8.45 h9c3ff4c_0 conda-forge pexpect 4.8.0 py38h32f6830_1 conda-forge pickleshare 0.7.5 py38h32f6830_1002 conda-forge pillow 8.3.1 py38h8e6f84c_0 conda-forge pip 20.3.3 pyhd8ed1ab_0 conda-forge pixman 0.40.0 h36c2ea0_0 conda-forge pkg-config 0.29.2 h516909a_1008 conda-forge pluggy 1.0.0 py38h578d9bd_1 conda-forge poppler 21.03.0 h93df280_0 conda-forge poppler-data 0.4.11 hd8ed1ab_0 conda-forge postgresql 13.3 h2510834_0 conda-forge proj 8.0.1 h277dcde_0 conda-forge prompt-toolkit 3.0.20 pyha770c72_0 conda-forge pthread-stubs 0.4 h36c2ea0_1001 conda-forge ptyprocess 0.7.0 pyhd3deb0d_0 conda-forge pugixml 1.11.4 h9c3ff4c_0 conda-forge py 1.10.0 pyhd3deb0d_0 conda-forge py-opencv 4.5.2 py38hd0cf306_1 conda-forge pybind11 2.7.1 py38h1fd1430_0 conda-forge pybind11-abi 4 hd8ed1ab_3 conda-forge pybind11-global 2.7.1 py38h1fd1430_0 conda-forge pycosat 0.6.3 py38h8df0ef7_1005 conda-forge pycparser 2.20 pyh9f0ad1d_2 conda-forge pygments 2.10.0 pyhd8ed1ab_0 conda-forge pyngrok 5.1.0 pyhd8ed1ab_0 conda-forge pyopenssl 20.0.1 pyhd8ed1ab_0 conda-forge pyparsing 2.4.7 pyh9f0ad1d_0 conda-forge pysocks 1.7.1 py38h924ce5b_2 conda-forge pytest 6.2.5 py38h578d9bd_0 conda-forge python 3.8.6 hffdb5ce_4_cpython conda-forge python_abi 3.8 1_cp38 conda-forge pyyaml 5.4.1 py38h497a2fe_1 conda-forge pyzmq 22.3.0 py38h2035c66_0 conda-forge qhull 2020.2 h4bd325d_2 conda-forge qt 5.12.9 hda022c4_4 conda-forge qwt 6.2.0 h7ec6b3e_0 conda-forge readline 8.1 h46c0cb4_0 conda-forge reproc 14.2.1 h36c2ea0_0 conda-forge reproc-cpp 14.2.1 h58526e2_0 conda-forge requests 2.25.1 pyhd3deb0d_0 conda-forge rhash 1.4.1 h7f98852_0 conda-forge robot-testing-framework 2.0.1 h9c3ff4c_0 conda-forge ruamel_yaml 0.15.80 py38h8df0ef7_1003 conda-forge ruby 2.7.2 he592edb_3 conda-forge scipy 1.7.1 py38h56a6a73_0 conda-forge scotch 6.0.9 he1efa8a_1 conda-forge sdl 1.2.15 he1b5a44_1 conda-forge sdl2 2.0.12 h58526e2_1 conda-forge setuptools 49.6.0 py38h924ce5b_2 conda-forge simbody 3.7 h64f3f5a_2 conda-forge six 1.15.0 pyh9f0ad1d_0 conda-forge spdlog 1.9.2 h4bd325d_0 conda-forge sqlite 3.36.0 h9cd32fc_1 conda-forge swig 4.0.2 hd3c618e_2 conda-forge sysroot_linux-64 2.12 he073ed8_14 conda-forge tbb 2020.3 hfd86e86_0 tbb-devel 2020.3 hfd86e86_0 tiledb 2.3.4 he87e0bf_0 conda-forge tinyxml 2.6.2 h4bd325d_2 conda-forge tinyxml2 9.0.0 h9c3ff4c_1 conda-forge tk 8.6.10 h21135ba_1 conda-forge tl-optional 1.0.0 h4bd325d_1 conda-forge toml 0.10.2 pyhd8ed1ab_0 conda-forge tomlplusplus 2.5.0 h9c3ff4c_0 conda-forge tornado 6.1 py38h497a2fe_1 conda-forge tqdm 4.55.0 pyhd8ed1ab_0 conda-forge traitlets 5.1.0 pyhd8ed1ab_0 conda-forge tzcode 2021a h7f98852_2 conda-forge tzdata 2021a he74cb21_1 conda-forge u-msgpack-python 2.7.1 pyh9f0ad1d_0 conda-forge urdfdom 2.3.5 h4bd325d_0 conda-forge urdfdom_headers 1.0.5 hc9558a2_2 conda-forge urllib3 1.26.2 pyhd8ed1ab_0 conda-forge wcwidth 0.2.5 pyh9f0ad1d_2 conda-forge wheel 0.36.2 pyhd3deb0d_0 conda-forge whole-body-estimators 0.5.1 h9c3ff4c_27 robotology x264 1!161.3030 h7f98852_1 conda-forge xerces-c 3.2.3 h9d8b166_2 conda-forge xorg-fixesproto 5.0 h14c3975_1002 conda-forge xorg-inputproto 2.3.2 h14c3975_1002 conda-forge xorg-kbproto 1.0.7 h14c3975_1002 conda-forge xorg-libice 1.0.10 h516909a_0 conda-forge xorg-libsm 1.2.3 hd9c2040_1000 conda-forge xorg-libx11 1.6.12 h516909a_0 conda-forge xorg-libxau 1.0.9 h14c3975_0 conda-forge xorg-libxaw 1.0.14 h7f98852_0 conda-forge xorg-libxdmcp 1.1.3 h516909a_0 conda-forge xorg-libxext 1.3.4 h516909a_0 conda-forge xorg-libxfixes 5.0.3 h516909a_1004 conda-forge xorg-libxi 1.7.10 h516909a_0 conda-forge xorg-libxmu 1.1.3 h516909a_0 conda-forge xorg-libxpm 3.5.13 h516909a_0 conda-forge xorg-libxrender 0.9.10 h516909a_1002 conda-forge xorg-libxt 1.1.5 h516909a_1003 conda-forge xorg-renderproto 0.11.1 h14c3975_1002 conda-forge xorg-xextproto 7.3.0 h14c3975_1002 conda-forge xorg-xproto 7.0.31 h14c3975_1007 conda-forge xz 5.2.5 h516909a_1 conda-forge yaml 0.2.5 h516909a_0 conda-forge yarp 3.5.0 py38h92e0805_27 robotology ycm-cmake-modules 0.13.0 h9c3ff4c_0 conda-forge zeromq 4.3.4 h9c3ff4c_1 conda-forge zlib 1.2.11 h516909a_1010 conda-forge zstd 1.5.0 ha95c52a_0 conda-forge zziplib 0.13.69 hed695b0_1 conda-forge ```


Details about conda and system ( conda info ):

``` conda info active environment : base active env location : /opt/conda shell level : 1 user config file : /root/.condarc populated config files : /opt/conda/.condarc conda version : 4.9.2 conda-build version : not installed python version : 3.8.6.final.0 virtual packages : __glibc=2.31=0 __unix=0=0 __archspec=1=x86_64 base environment : /opt/conda (writable) channel URLs : https://conda.anaconda.org/conda-forge/linux-64 https://conda.anaconda.org/conda-forge/noarch package cache : /opt/conda/pkgs /root/.conda/pkgs envs directories : /opt/conda/envs /root/.conda/envs platform : linux-64 user-agent : conda/4.9.2 requests/2.25.1 CPython/3.8.6 Linux/5.11.0-34-generic ubuntu/20.04.1 glibc/2.31 UID:GID : 0:0 netrc file : None offline mode : False ```

On the other hand, the environment stored in the docker image ghcr.io/ami-iit/centroidal-mpc-walking-docker:latest works fine but the whole-body-estimators is not installed there

You can use it as 

$ docker pull ghcr.io/ami-iit/centroidal-mpc-walking-docker:latest
$ docker run -it  --device=/dev/dri:/dev/dri --env="DISPLAY=$DISPLAY"  --net=host  ghcr.io/ami-iit/centroidal-mpc-walking-docker:latest


Environment (conda list):

``` ]conda list # packages in environment at /opt/conda: # # Name Version Build Channel _libgcc_mutex 0.1 conda_forge conda-forge _openmp_mutex 4.5 1_gnu conda-forge ace 7.0.1 h9c3ff4c_0 conda-forge ampl-mp 3.1.0 h2cc385e_1005 conda-forge attrs 21.2.0 pyhd8ed1ab_0 conda-forge binutils 2.35.1 hdd6e379_2 conda-forge binutils_impl_linux-64 2.35.1 h193b22a_1 conda-forge binutils_linux-64 2.35 h67ddf6f_30 conda-forge boost-cpp 1.74.0 h9d3c048_1 conda-forge brotlipy 0.7.0 py38h8df0ef7_1001 conda-forge bzip2 1.0.8 h7f98852_4 conda-forge c-ares 1.17.1 h36c2ea0_0 conda-forge c-compiler 1.2.0 h7f98852_0 conda-forge ca-certificates 2021.5.30 ha878542_0 conda-forge cairo 1.16.0 h6cf1ce9_1008 conda-forge casadi 3.5.5 py38hd0c8a5a_4 conda-forge catch2 2.13.7 h4bd325d_0 conda-forge certifi 2021.5.30 py38h578d9bd_0 conda-forge cffi 1.14.4 py38ha65f79e_1 conda-forge chardet 4.0.0 py38h578d9bd_0 conda-forge cmake 3.19.4 h4547794_0 conda-forge compilers 1.2.0 ha770c72_0 conda-forge conda 4.10.3 py38h578d9bd_1 conda-forge conda-package-handling 1.7.2 py38h8df0ef7_0 conda-forge console_bridge 1.0.1 h4bd325d_0 conda-forge cppad 20210000.6 h9c3ff4c_0 conda-forge cppzmq 4.7.1 hf7cf922_2 conda-forge cryptography 3.3.1 py38h2b97feb_0 conda-forge curl 7.71.1 he644dc0_8 conda-forge cxx-compiler 1.2.0 h4bd325d_0 conda-forge dbus 1.13.6 h48d8840_2 conda-forge eigen 3.3.9 h4bd325d_1 conda-forge expat 2.4.1 h9c3ff4c_0 conda-forge expat-cos6-x86_64 2.0.1 h9b0a68f_1105 conda-forge ffmpeg 4.3.2 hca11adc_0 conda-forge flann 1.9.1 h2e58136_1008 conda-forge fontconfig 2.13.1 hba837de_1005 conda-forge fortran-compiler 1.2.0 h1990efc_0 conda-forge freeglut 3.2.1 h9c3ff4c_2 conda-forge freeimage 3.18.0 h88c329d_7 conda-forge freetype 2.10.4 h0708190_1 conda-forge gazebo 11.3.0 hecc34a0_9 conda-forge gazebo-yarp-plugins 3.6.0 h3fd9d12_1 robotology gcc_impl_linux-64 9.3.0 h70c0ae5_19 conda-forge gcc_linux-64 9.3.0 hf25ea35_30 conda-forge gdbm 1.18 h0a1914f_2 conda-forge gettext 0.19.8.1 h0b5b191_1005 conda-forge gfortran_impl_linux-64 9.3.0 hc4a2995_19 conda-forge gfortran_linux-64 9.3.0 hdc58fab_30 conda-forge glib 2.68.3 h9c3ff4c_0 conda-forge glib-tools 2.68.3 h9c3ff4c_0 conda-forge gmp 6.2.1 h58526e2_0 conda-forge gnutls 3.6.13 h85f3911_1 conda-forge graphite2 1.3.13 h58526e2_1001 conda-forge gsl 2.6 he838d99_2 conda-forge gst-plugins-base 1.14.5 h0935bb2_2 conda-forge gstreamer 1.18.4 h76c114f_2 conda-forge gts 0.7.6 h64030ff_2 conda-forge gxx_impl_linux-64 9.3.0 hd87eabc_19 conda-forge gxx_linux-64 9.3.0 h3fbe746_30 conda-forge harfbuzz 2.8.2 h83ec7ef_0 conda-forge hdf5 1.10.6 nompi_h6a2412b_1114 conda-forge icu 68.1 h58526e2_0 conda-forge icub-firmware-shared 1.19.0 h9c3ff4c_7 robotology icub-main 1.19.2 h29b4c58_7 robotology idna 2.10 pyh9f0ad1d_0 conda-forge idyntree 3.1.0 hcf3a72d_7 robotology ilmbase 2.5.5 h780b84a_0 conda-forge iniconfig 1.1.1 pyh9f0ad1d_0 conda-forge ipopt 3.13.4 h7ede334_0 conda-forge irrlicht 1.8.4 hdaeae82_1 conda-forge jasper 1.900.1 h07fcdf6_1006 conda-forge jpeg 9d h36c2ea0_0 conda-forge jsoncpp 1.9.4 h4bd325d_3 conda-forge jxrlib 1.1 h7f98852_2 conda-forge kernel-headers_linux-64 2.6.32 he073ed8_14 conda-forge krb5 1.17.2 h926e7f8_0 conda-forge lame 3.100 h7f98852_1001 conda-forge lcms2 2.12 hddcbb42_0 conda-forge ld_impl_linux-64 2.35.1 hea4e1c9_1 conda-forge libarchive 3.3.3 hddc7a2b_1008 conda-forge libblas 3.9.0 11_linux64_openblas conda-forge libcblas 3.9.0 11_linux64_openblas conda-forge libccd 2.1 h9c3ff4c_1 conda-forge libclang 11.1.0 default_ha53f305_1 conda-forge libcurl 7.71.1 hcdd3856_8 conda-forge libdc1394 2.2.6 he1b5a44_0 conda-forge libdrm-cos6-x86_64 2.4.65 h9b0a68f_1105 conda-forge libedit 3.1.20191231 he28a2e2_2 conda-forge libev 4.33 h516909a_1 conda-forge libevent 2.1.10 hcdb4288_3 conda-forge libffi 3.3 h58526e2_2 conda-forge libgcc-devel_linux-64 9.3.0 h7864c58_19 conda-forge libgcc-ng 9.3.0 h5dbcf3e_17 conda-forge libgfortran-ng 9.4.0 h69a702a_8 conda-forge libgfortran5 9.4.0 h62347ff_8 conda-forge libglib 2.68.3 h3e27bee_0 conda-forge libglu 9.0.0 he1b5a44_1001 conda-forge libgomp 9.3.0 h5dbcf3e_17 conda-forge libiconv 1.16 h516909a_0 conda-forge libignition-cmake2 2.8.0 h9c3ff4c_0 conda-forge libignition-common3 3.11.1 h4b9f6df_0 conda-forge libignition-fuel-tools4 4.3.0 hf08c594_2 conda-forge libignition-math6 6.8.0 h9c3ff4c_0 conda-forge libignition-msgs5 5.3.0 hc438e01_6 conda-forge libignition-tools1 1.2.0 h33ecc0d_1 conda-forge libignition-transport8 8.1.0 h3ef4182_6 conda-forge libjpeg-turbo 2.1.0 h7f98852_0 conda-forge liblapack 3.9.0 11_linux64_openblas conda-forge liblapacke 3.9.0 11_linux64_openblas conda-forge libllvm11 11.1.0 hf817b99_2 conda-forge libmatio 1.5.21 h9e294dc_0 conda-forge libnghttp2 1.41.0 h8cfc5f6_2 conda-forge libopenblas 0.3.17 pthreads_h8fe5266_1 conda-forge libopencv 4.5.2 py38hcdf9bf1_0 conda-forge libosqp 0.6.2 h9c3ff4c_3 conda-forge libpng 1.6.37 h21135ba_2 conda-forge libpq 12.3 h255efa7_3 conda-forge libprotobuf 3.15.8 h780b84a_0 conda-forge libraw 0.20.2 h10796ff_1 conda-forge libsdformat 9.3.0 h21f569a_5 conda-forge libselinux-cos6-x86_64 2.0.94 h9b0a68f_1105 conda-forge libsepol-cos6-x86_64 2.0.41 h9b0a68f_1105 conda-forge libsodium 1.0.18 h36c2ea0_1 conda-forge libsolv 0.7.16 h8b12597_0 conda-forge libssh2 1.9.0 hab1572f_5 conda-forge libstdcxx-devel_linux-64 9.3.0 hb016644_19 conda-forge libstdcxx-ng 9.3.0 h2ae2ef3_17 conda-forge libtar 1.2.20 h7f98852_1002 conda-forge libtiff 4.2.0 hdc55705_0 conda-forge libusb 1.0.24 h18f079d_4 conda-forge libuuid 2.32.1 h7f98852_1000 conda-forge libuv 1.42.0 h7f98852_0 conda-forge libwebp-base 1.2.0 h7f98852_2 conda-forge libx11-common-cos6-x86_64 1.6.4 h9b0a68f_1105 conda-forge libx11-cos6-x86_64 1.6.4 h9b0a68f_1105 conda-forge libxau-cos6-x86_64 1.0.6 h9b0a68f_1105 conda-forge libxcb 1.13 h7f98852_1003 conda-forge libxcb-cos6-x86_64 1.12 h9b0a68f_1105 conda-forge libxdamage-cos6-x86_64 1.1.3 h9b0a68f_1105 conda-forge libxext-cos6-x86_64 1.3.3 h9b0a68f_1105 conda-forge libxfixes-cos6-x86_64 5.0.3 h9b0a68f_1105 conda-forge libxkbcommon 1.0.3 he3ba5ed_0 conda-forge libxml2 2.9.10 h72842e0_3 conda-forge libxxf86vm-cos6-x86_64 1.1.3 h9b0a68f_1105 conda-forge libzip 1.8.0 h4de3113_0 conda-forge lie-group-controllers 0.1.1 h9c3ff4c_21 robotology lz4-c 1.9.2 he1b5a44_3 conda-forge lzo 2.10 h516909a_1000 conda-forge make 4.3 hd18ef5c_1 conda-forge mamba 0.7.6 py38h4c9354d_0 conda-forge manif 0.0.4 h9c3ff4c_5 conda-forge manifpy 0.0.4 py38h12ecfe5_5 conda-forge matio-cpp 0.1.1 h15528fd_21 robotology mesa-dri-drivers-cos6-x86_64 11.0.7 h9b0a68f_1105 conda-forge mesa-dri1-drivers-cos6-x86_64 7.11 h9b0a68f_1105 conda-forge mesa-libgl-cos6-x86_64 11.0.7 h9b0a68f_1105 conda-forge mesa-libgl-devel-cos6-x86_64 11.0.7 h9b0a68f_1105 conda-forge mesalib 18.3.1 h590aaf7_0 conda-forge metis 5.1.0 h58526e2_1006 conda-forge more-itertools 8.10.0 pyhd8ed1ab_0 conda-forge mumps-include 5.2.1 ha770c72_10 conda-forge mumps-seq 5.2.1 h47a8eb5_10 conda-forge mysql-common 8.0.22 ha770c72_1 conda-forge mysql-libs 8.0.22 h1fd7589_1 conda-forge ncurses 6.2 h58526e2_4 conda-forge nettle 3.6 he412f7d_0 conda-forge ninja 1.10.2 h4bd325d_0 conda-forge nlohmann_json 3.10.2 h9c3ff4c_0 conda-forge nspr 4.30 h9c3ff4c_0 conda-forge nss 3.67 hb5efdd6_0 conda-forge numpy 1.21.1 py38h9894fe3_0 conda-forge ogre 1.10.12 hf655ca9_7 conda-forge opencv 4.5.2 py38h578d9bd_0 conda-forge openexr 2.5.5 hf817b99_0 conda-forge openh264 2.1.1 h780b84a_0 conda-forge openjpeg 2.4.0 hb52868f_1 conda-forge openssl 1.1.1k h7f98852_0 conda-forge osqp-eigen 0.6.3 h9c3ff4c_13 robotology packaging 21.0 pyhd8ed1ab_0 conda-forge patchelf 0.13 h58526e2_0 conda-forge pcl 1.11.1 h39b1736_3 conda-forge pcre 8.45 h9c3ff4c_0 conda-forge pip 20.3.3 pyhd8ed1ab_0 conda-forge pixman 0.40.0 h36c2ea0_0 conda-forge pkg-config 0.29.2 h36c2ea0_1008 conda-forge pluggy 1.0.0 py38h578d9bd_1 conda-forge protobuf 3.15.8 py38h709712a_0 conda-forge pthread-stubs 0.4 h36c2ea0_1001 conda-forge pugixml 1.11.4 h9c3ff4c_0 conda-forge py 1.10.0 pyhd3deb0d_0 conda-forge py-opencv 4.5.2 py38hd0cf306_0 conda-forge pybind11 2.7.1 py38h1fd1430_0 conda-forge pybind11-abi 4 hd8ed1ab_3 conda-forge pybind11-global 2.7.1 py38h1fd1430_0 conda-forge pycosat 0.6.3 py38h8df0ef7_1005 conda-forge pycparser 2.20 pyh9f0ad1d_2 conda-forge pyopenssl 20.0.1 pyhd8ed1ab_0 conda-forge pyparsing 2.4.7 pyh9f0ad1d_0 conda-forge pysocks 1.7.1 py38h924ce5b_2 conda-forge pytest 6.2.5 py38h578d9bd_0 conda-forge python 3.8.6 hffdb5ce_4_cpython conda-forge python_abi 3.8 1_cp38 conda-forge qhull 2020.2 h4bd325d_1 conda-forge qt 5.12.9 h9d6b050_2 conda-forge qwt 6.1.6 h7ec6b3e_0 conda-forge readline 8.0 he28a2e2_2 conda-forge reproc 14.2.1 h36c2ea0_0 conda-forge reproc-cpp 14.2.1 h58526e2_0 conda-forge requests 2.25.1 pyhd3deb0d_0 conda-forge rhash 1.4.1 h7f98852_0 conda-forge robot-testing-framework 2.0.1 h9c3ff4c_0 conda-forge ruamel_yaml 0.15.80 py38h8df0ef7_1003 conda-forge ruby 2.7.2 he592edb_3 conda-forge scipy 1.7.0 py38h7b17777_1 conda-forge scotch 6.0.9 h3858553_1 conda-forge sdl 1.2.15 h9c3ff4c_1 conda-forge sdl2 2.0.12 h9c3ff4c_1 conda-forge setuptools 49.6.0 py38h924ce5b_2 conda-forge six 1.15.0 pyh9f0ad1d_0 conda-forge spdlog 1.9.1 h4bd325d_0 conda-forge sqlite 3.35.5 h74cdb3f_0 conda-forge swig 4.0.2 hd3c618e_2 conda-forge sysroot_linux-64 2.12 he073ed8_14 conda-forge tbb 2020.2 h4bd325d_4 conda-forge tinyxml 2.6.2 h4bd325d_2 conda-forge tinyxml2 8.0.0 h9c3ff4c_1 conda-forge tk 8.6.10 h21135ba_1 conda-forge tl-optional 1.0.0 h4bd325d_1 conda-forge toml 0.10.2 pyhd8ed1ab_0 conda-forge tomlplusplus 2.4.0 h9c3ff4c_0 conda-forge tqdm 4.55.0 pyhd8ed1ab_0 conda-forge urdfdom 2.3.5 h4bd325d_0 conda-forge urdfdom_headers 1.0.5 h4bd325d_2 conda-forge urllib3 1.26.2 pyhd8ed1ab_0 conda-forge wheel 0.36.2 pyhd3deb0d_0 conda-forge x264 1!161.3030 h7f98852_1 conda-forge xorg-fixesproto 5.0 h7f98852_1002 conda-forge xorg-inputproto 2.3.2 h7f98852_1002 conda-forge xorg-kbproto 1.0.7 h7f98852_1002 conda-forge xorg-libice 1.0.10 h7f98852_0 conda-forge xorg-libsm 1.2.3 hd9c2040_1000 conda-forge xorg-libx11 1.6.12 h36c2ea0_0 conda-forge xorg-libxau 1.0.9 h7f98852_0 conda-forge xorg-libxaw 1.0.14 h7f98852_0 conda-forge xorg-libxdmcp 1.1.3 h7f98852_0 conda-forge xorg-libxext 1.3.4 h516909a_0 conda-forge xorg-libxfixes 5.0.3 h516909a_1004 conda-forge xorg-libxi 1.7.10 h516909a_0 conda-forge xorg-libxmu 1.1.3 h516909a_0 conda-forge xorg-libxpm 3.5.13 h516909a_0 conda-forge xorg-libxrender 0.9.10 h516909a_1002 conda-forge xorg-libxt 1.1.5 h516909a_1003 conda-forge xorg-renderproto 0.11.1 h7f98852_1002 conda-forge xorg-xextproto 7.3.0 h7f98852_1002 conda-forge xorg-xproto 7.0.31 h7f98852_1007 conda-forge xz 5.2.5 h516909a_1 conda-forge yaml 0.2.5 h516909a_0 conda-forge yarp 3.4.3 h59b5042_7 robotology ycm-cmake-modules 0.12.1 h9c3ff4c_7 robotology zeromq 4.3.4 h9c3ff4c_0 conda-forge zlib 1.2.11 h516909a_1010 conda-forge zstd 1.4.5 h6597ccf_2 conda-forge zziplib 0.13.69 h27826a3_1 conda-forge ```


Details about conda and system ( conda info ):

``` conda info active environment : base active env location : /opt/conda shell level : 1 user config file : /home/user/.condarc populated config files : /opt/conda/.condarc conda version : 4.10.3 conda-build version : not installed python version : 3.8.6.final.0 virtual packages : __linux=5.11.0=0 __glibc=2.31=0 __unix=0=0 __archspec=1=x86_64 base environment : /opt/conda (read only) conda av data dir : /opt/conda/etc/conda conda av metadata url : None channel URLs : https://conda.anaconda.org/conda-forge/linux-64 https://conda.anaconda.org/conda-forge/noarch package cache : /opt/conda/pkgs /home/user/.conda/pkgs envs directories : /home/user/.conda/envs /opt/conda/envs platform : linux-64 user-agent : conda/4.10.3 requests/2.25.1 CPython/3.8.6 Linux/5.11.0-34-generic ubuntu/20.04.1 glibc/2.31 UID:GID : 1000:1000 netrc file : None offline mode : False ```

cc @diegoferigo @S-Dafarra @traversaro

GiulioRomualdi commented 1 year ago

Closing for the time being. In case of issue I will open it again