Example mhe.py not working

[Rum02]

Hello, I'm trying to get started with bioptim and tried to run a view examples. Afterwards I'm discribing a few Errors I got on the way and how I solved them this is just for clarification so the main Issue can be better understood. And I hope me trying to solve the original Issues doesn't cause the current Issue.

I started with the pendulum.py were I got the following Error message: ImportError: cannot import name 'OdeSolverBase' from 'bioptim' (C:\Users\miniconda3\envs\pyomeca\Lib\site-packages\bioptim\__init__.py) I was able to solve that by including the following line from .dynamics.ode_solver import OdeSolverBase in the __init__.py

After that I got another Error Message TypeError: OptimalControlProgram.__init__() got an unexpected keyword argument 'assume_phase_dynamics' To solve this issue I commented out every occurrence of the assume_phase_dynamics in the running Example After that the pendulum.py was running for my Impression errorless

Now I wanted to get started on the MHE example but when I run the mhe.py I get the following message: The same thing happens if I start the gui for the examples.

Traceback (most recent call last): File "C:\Bioptim\bioptim-master\bioptim\examples\moving_horizon_estimation\mhe.py", line 241, in main() File "C:\Bioptim\bioptim-master\bioptim\examples\moving_horizon_estimation\mhe.py", line 208, in main sol = mhe.solve(update_functions, *get_solver_options(solver)) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "C:\Users\miniconda3\envs\pyomeca\Lib\site-packages\bioptim\optimization\receding_horizon_optimization.py", line 138, in solve sol = super(RecedingHorizonOptimization, self).solve( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "C:\Users\miniconda3\envs\pyomeca\Lib\site-packages\bioptim\optimization\optimal_control_program.py", line 1147, in solve self.ocp_solver.solve() File "C:\Users\miniconda3\envs\pyomeca\Lib\site-packages\bioptim\interfaces\acados_interface.py", line 739, in solve self.ocp_solver = AcadosOcpSolver(self.acados_ocp, json_file="acados_ocp.json", build=self.opts.c_compile) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "c:\acados\acados\interfaces\acados_template\acados_template\acados_ocp_solver.py", line 950, in init self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose) File "c:\acados\acados\interfaces\acados_template\acados_template\acados_ocp_solver.py", line 896, in build call( File "C:\Users\miniconda3\envs\pyomeca\Lib\subprocess.py", line 392, in call with Popen(popenargs, **kwargs) as p: ^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "C:\Users\miniconda3\envs\pyomeca\Lib\subprocess.py", line 1028, in init self._execute_child(args, executable, preexec_fn, close_fds, File "C:\Users\miniconda3\envs\pyomeca\Lib\subprocess.py", line 1515, in _execute_child hp, ht, pid, tid = _winapi.CreateProcess(executable, args, ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ FileNotFoundError: [WinError 2] Das System kann die angegebene Datei nicht finden

translation in English:

FileNotFoundError: [WinError 2] The system cannot find the file specified

Now I don't know how to solve this Issue I tried to find a solution but everything I tried does not work.

I hope someone can solve this if there was a similar Issue I'm sorry I didn't find it

[Ipuch]

Hi @Rum02,

Thank you for trying bioptim and reaching us.

Some questions to clarify the issue:

1. Which version of bioptim have you installed? Are you working with the source code ?
2. Which Example are you trying to execute ? If it is a custom example, try to provide a minimal example that reproduces your error message (i.e., a few lines of code I can execute myself.)
3. Which examples worked so far?

I launched mhe.py on my computer with the latest version of bioptim. It works. I see you are trying to use Acados. It takes an extra installation to use it on macOS or Linux. The procedure is written in the README. We don't have any script to automate the installation on Windows. So only the example mhe.py with IPOPT would work on Windows with the present version of bioptim. It would require finding out how to install Acados on Windows first.

assume_phase_dynamics is an argument that allows to define dynamics functions per interval. e.g. f0(x,u) for the first interval and f1(x,u) in the second. If you have the same equations of motion across all intervals you should set this argument to True.

Again thanks for reaching out. We'd be glad to answer more of your questions.

[Ipuch]

up, Did my response help you ? :)