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robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
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Some question for using in Python #880

Closed MingshanHe closed 3 years ago

MingshanHe commented 3 years ago

I have successfully compile it as Cmake 5.18 and install it. But I can't use it in my python3.5 (Ubuntu 16.04), I have already move the package in the python3.5 site-packages and python3 dist-packages but not work. Would you like to help me? I will apreciate. Thanks

traversaro commented 3 years ago

Hi @MingshanHe ! Can you provide more details on the exact command you used to compile iDynTree, which Python scripts are you trying to run that is not working, which version of iDynTree did you used and what do you mean by "I have already move the package in the python3.5 site-packages and python3 dist-packages but not work". Note that Ubuntu 16.04 is not tested anymore in CI, so it is possible that there are problems.

However, if compilation works fine, it should be sufficient to appendthe PYTHONPATH env variable the directory <install_prefix>/lib/python3.5/dist-packages, and then you should be able to run an example such as https://github.com/robotology/idyntree/blob/master/examples/python/KinDynComputationsTutorial.py .

Note that furthermore idyntree is already available ready to use in conda and pip, and if that is ok for you you can install it via:

conda install -c conda-forge -c robotology idyntree

or:

pip install idyntree
MingshanHe commented 3 years ago

I have download the it in Github which is the master branch(I think it is the lastest version) and compile it in the tutorial by cmake. It seems that I have compiled it successfully but I haven't the directory <install_prefix>/lib/python3.5/dist-packages but have the site-packages directory in python3.5, I want to know if it is possible for run the append command it any work directory in terminal? and How to solve the directory. Thanks.

traversaro commented 3 years ago

but have the site-packages directory in python3.5,

What do you mean? Can you report the content of <build_directory>/install_manifest.txt so that it is clear which files are installed in your case?

MingshanHe commented 3 years ago

/usr/local/lib/libidyntree-core.so /usr/local/include/iDynTree/Core/Axis.h /usr/local/include/iDynTree/Core/ArticulatedBodyInertia.h /usr/local/include/iDynTree/Core/ClassicalAcc.h /usr/local/include/iDynTree/Core/Direction.h /usr/local/include/iDynTree/Core/EigenSparseHelpers.h /usr/local/include/iDynTree/Core/EigenMathHelpers.h /usr/local/include/iDynTree/Core/EigenHelpers.h /usr/local/include/iDynTree/Core/InertiaNonLinearParametrization.h /usr/local/include/iDynTree/Core/MatrixDynSize.h /usr/local/include/iDynTree/Core/MatrixFixSize.h /usr/local/include/iDynTree/Core/Position.h /usr/local/include/iDynTree/Core/PositionRaw.h /usr/local/include/iDynTree/Core/Rotation.h /usr/local/include/iDynTree/Core/RotationRaw.h /usr/local/include/iDynTree/Core/RotationalInertiaRaw.h /usr/local/include/iDynTree/Core/SpatialAcc.h /usr/local/include/iDynTree/Core/SpatialForceVector.h /usr/local/include/iDynTree/Core/SpatialInertiaRaw.h /usr/local/include/iDynTree/Core/SpatialInertia.h /usr/local/include/iDynTree/Core/SpatialMomentum.h /usr/local/include/iDynTree/Core/SpatialMotionVector.h /usr/local/include/iDynTree/Core/TestUtils.h /usr/local/include/iDynTree/Core/Transform.h /usr/local/include/iDynTree/Core/TransformDerivative.h /usr/local/include/iDynTree/Core/Twist.h /usr/local/include/iDynTree/Core/Utils.h /usr/local/include/iDynTree/Core/VectorFixSize.h /usr/local/include/iDynTree/Core/VectorDynSize.h /usr/local/include/iDynTree/Core/Wrench.h /usr/local/include/iDynTree/Core/PrivateUtils.h /usr/local/include/iDynTree/Core/PrivatePreProcessorUtils.h /usr/local/include/iDynTree/Core/GeomVector3.h /usr/local/include/iDynTree/Core/SpatialVector.h /usr/local/include/iDynTree/Core/SparseMatrix.h /usr/local/include/iDynTree/Core/Triplets.h /usr/local/include/iDynTree/Core/CubicSpline.h /usr/local/include/iDynTree/Core/Span.h /usr/local/include/iDynTree/Core/SO3Utils.h /usr/local/include/iDynTree/Core/MatrixView.h /usr/local/include/iDynTree/Core/AngularForceVector3.h /usr/local/include/iDynTree/Core/AngularMotionVector3.h /usr/local/include/iDynTree/Core/ForceVector3.h /usr/local/include/iDynTree/Core/LinearForceVector3.h /usr/local/include/iDynTree/Core/LinearMotionVector3.h /usr/local/include/iDynTree/Core/MotionVector3.h /usr/local/include/iDynTree/Core/CoreExport.h /usr/local/lib/libidyntree-model.so /usr/local/include/iDynTree/Model/ContactWrench.h /usr/local/include/iDynTree/Model/DenavitHartenberg.h /usr/local/include/iDynTree/Model/FixedJoint.h /usr/local/include/iDynTree/Model/ForwardKinematics.h /usr/local/include/iDynTree/Model/FreeFloatingState.h /usr/local/include/iDynTree/Model/FreeFloatingMatrices.h /usr/local/include/iDynTree/Model/IJoint.h /usr/local/include/iDynTree/Model/Dynamics.h /usr/local/include/iDynTree/Model/DynamicsLinearization.h /usr/local/include/iDynTree/Model/DynamicsLinearizationHelpers.h /usr/local/include/iDynTree/Model/Indices.h /usr/local/include/iDynTree/Model/Jacobians.h /usr/local/include/iDynTree/Model/JointState.h /usr/local/include/iDynTree/Model/LinkTraversalsCache.h /usr/local/include/iDynTree/Model/Link.h /usr/local/include/iDynTree/Model/LinkState.h /usr/local/include/iDynTree/Model/Model.h /usr/local/include/iDynTree/Model/ModelTransformers.h /usr/local/include/iDynTree/Model/MovableJointImpl.h /usr/local/include/iDynTree/Model/RevoluteJoint.h /usr/local/include/iDynTree/Model/PrismaticJoint.h /usr/local/include/iDynTree/Model/SolidShapes.h /usr/local/include/iDynTree/Model/SubModel.h /usr/local/include/iDynTree/Model/Traversal.h /usr/local/include/iDynTree/Model/ModelTestUtils.h /usr/local/include/iDynTree/Model/ModelExport.h /usr/local/lib/libidyntree-sensors.so /usr/local/include/iDynTree/Sensors/AllSensorsTypes.h /usr/local/include/iDynTree/Sensors/Sensors.h /usr/local/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h /usr/local/include/iDynTree/Sensors/GyroscopeSensor.h /usr/local/include/iDynTree/Sensors/AccelerometerSensor.h /usr/local/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h /usr/local/include/iDynTree/Sensors/ThreeAxisForceTorqueContactSensor.h /usr/local/include/iDynTree/Sensors/PredictSensorsMeasurements.h /usr/local/include/iDynTree/Sensors/ModelSensorsTransformers.h /usr/local/lib/libidyntree-modelio-xml.so /usr/local/include/iDynTree/XMLParser.h /usr/local/include/iDynTree/XMLElement.h /usr/local/include/iDynTree/XMLAttribute.h /usr/local/include/iDynTree/XMLDocument.h /usr/local/lib/libidyntree-modelio-urdf.so /usr/local/include/iDynTree/ModelIO/URDFDofsImport.h /usr/local/include/iDynTree/ModelIO/ModelLoader.h /usr/local/include/iDynTree/ModelIO/ModelExporter.h /usr/local/include/iDynTree/ModelIO/ModelCalibrationHelper.h /usr/local/lib/libidyntree-estimation.so /usr/local/include/iDynTree/Estimation/BerdyHelper.h /usr/local/include/iDynTree/Estimation/ExternalWrenchesEstimation.h /usr/local/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h /usr/local/include/iDynTree/Estimation/SimpleLeggedOdometry.h /usr/local/include/iDynTree/Estimation/BerdySparseMAPSolver.h /usr/local/include/iDynTree/Estimation/SchmittTrigger.h /usr/local/include/iDynTree/Estimation/ContactStateMachine.h /usr/local/include/iDynTree/Estimation/BipedFootContactClassifier.h /usr/local/include/iDynTree/Estimation/GravityCompensationHelpers.h /usr/local/include/iDynTree/Estimation/ExtendedKalmanFilter.h /usr/local/include/iDynTree/Estimation/AttitudeEstimator.h /usr/local/include/iDynTree/Estimation/AttitudeMahonyFilter.h /usr/local/include/iDynTree/Estimation/AttitudeQuaternionEKF.h /usr/local/include/iDynTree/Estimation/KalmanFilter.h /usr/local/lib/libidyntree-solid-shapes.so /usr/local/include/iDynTree/InertialParametersSolidShapesHelpers.h /usr/local/lib/libidyntree-high-level.so /usr/local/include/iDynTree/KinDynComputations.h /usr/local/lib/libidyntree-inverse-kinematics.so /usr/local/include/iDynTree/ConvexHullHelpers.h /usr/local/include/iDynTree/BoundingBoxHelpers.h /usr/local/include/iDynTree/InverseKinematics.h /usr/local/lib/libidyntree-optimalcontrol.so /usr/local/include/iDynTree/OptimalControl.h /usr/local/include/iDynTree/DynamicalSystem.h /usr/local/include/iDynTree/ControlledDynamicalSystem.h /usr/local/include/iDynTree/LinearSystem.h /usr/local/include/iDynTree/MultiBodySystem.h /usr/local/include/iDynTree/Integrator.h /usr/local/include/iDynTree/LinearMPC.h /usr/local/include/iDynTree/MPC.h /usr/local/include/iDynTree/OptimalControlProblem.h /usr/local/include/iDynTree/OptimalControlSolver.h /usr/local/include/iDynTree/SystemLineariser.h /usr/local/include/iDynTree/Cost.h /usr/local/include/iDynTree/Constraint.h /usr/local/include/iDynTree/QuadraticLikeCost.h /usr/local/include/iDynTree/QuadraticCost.h /usr/local/include/iDynTree/L2NormCost.h /usr/local/include/iDynTree/LinearConstraint.h /usr/local/include/iDynTree/LinearCost.h /usr/local/include/iDynTree/Controller.h /usr/local/include/iDynTree/TimeRange.h /usr/local/include/iDynTree/ConstraintsGroup.h /usr/local/include/iDynTree/OptimizationProblem.h /usr/local/include/iDynTree/Optimizer.h /usr/local/include/iDynTree/TimeVaryingObject.h /usr/local/include/iDynTree/SparsityStructure.h /usr/local/include/iDynTree/Integrators/FixedStepIntegrator.h /usr/local/include/iDynTree/Integrators/RK4.h /usr/local/include/iDynTree/Integrators/ImplicitTrapezoidal.h /usr/local/include/iDynTree/Integrators/ForwardEuler.h /usr/local/include/iDynTree/Optimizers/IpoptInterface.h /usr/local/include/iDynTree/Optimizers/OsqpInterface.h /usr/local/include/iDynTree/Optimizers/AlglibInterface.h /usr/local/include/iDynTree/Optimizers/WorhpInterface.h /usr/local/include/iDynTree/OCSolvers/MultipleShootingSolver.h /usr/local/include/iDynTree/yarp/YARPConversions.h /usr/local/include/iDynTree/yarp/YARPEigenConversions.h /usr/local/include/iDynTree/yarp/YARPConfigurationsLoader.h /usr/local/include/iDynTree/yarp/YARPConversionsImplementation.h /usr/local/include/iDynTree/yarp/YARPConfigurationsLoaderImplementation.h /usr/local/include/iDynTree/iKinConversions.h /usr/local/include/iDynTree/iKinConversionsImplementation.h /usr/local/include/iDynTree/skinDynLibConversions.h /usr/local/include/iDynTree/skinDynLibConversionsImplementation.h /usr/local/lib/libidyntree-visualization.so /usr/local/include/iDynTree/Visualizer.h /usr/local/bin/idyntree-model-info /usr/local/lib/cmake/iDynTree/iDynTreeConfigVersion.cmake /usr/local/lib/cmake/iDynTree/iDynTreeConfig.cmake /usr/local/lib/cmake/iDynTree/iDynTreeTargets.cmake /usr/local/lib/cmake/iDynTree/iDynTreeTargets-release.cmake Above is my <build_directory>/install_manifest.txt, and you have mentioned that append the PYTHON env variable the directory for python3.5/dist-packages but in my PC I have not found out this directory but the site-packages.

traversaro commented 3 years ago

and you have mentioned that append the PYTHON env variable the directory for python3.5/dist-packages but in my PC I have not found out this directory but the site-packages.

The env variables is PYTHONPATH, not PYTHON, see https://docs.python.org/3/using/cmdline.html#envvar-PYTHONPATH . However, if you are installing in /usr/local (that is tipically discouraged unless you are installing in a Docker image or in any case not in your dev system), you should not need to modify PYTHONPATH. However, the problem here seems to be that the Python bindings are not compiled at all. You need to install python3-dev python3-numpy and swig apt packages, and then enabled the CMake option IDYNTREE_USES_PYTHON . However, note that we don't actively test on Ubuntu 16.04 anymore, so it is possible that the swig version provided in Ubuntu 16.04 is too old or to encounter other incompatibilities.

traversaro commented 3 years ago

Hi @MingshanHe , were you able to solve your problems?

MingshanHe commented 3 years ago

Yes, I think it is possible to close this issue

traversaro commented 3 years ago

Thanks!