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stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
http://stack-of-tasks.github.io/pinocchio/
BSD 2-Clause "Simplified" License
1.96k stars 396 forks source link

Best way to build pin3 with casadi support? #1807

Closed ThorbenPultke closed 1 year ago

ThorbenPultke commented 1 year ago

Hi there! First of all thank you so much for your great framework and effort you put into this work!

I used the numerical part of pin while working with crocoddyl for an MPC-based approach for optimal control. Now I would like to double check integration possibilities with Acados. For this purpose I need a symbolic expression for forward kinematics and forward dynamics with Casadi, which should be doable with pin3 - at least this is what I was able to reconstruct from older issues.

I just tried to build pin3 to the best of my knowledge from source according to your instructions on your website. I indeed managed to get pinocchio running, but ran into an exception while importing pin.casadi (see screenshot). I built pin3 with Casadi turned to ON.

Is this fault known? Did I do something wrong while building this library? Could you point me towards best practices for building this framework from source (e.g. which builder / software to use) ?

Thank you so much in advance!

Best regards Thorben

image

jcarpent commented 1 year ago

@ThorbenPultke COuld you provide a docker image to replicate your issue? ON which commit are you?

fabinsch commented 1 year ago

Hello @ThorbenPultke, I just compiled the pinocchio3x preview branch (1e7c3a80) with Casadi and it is working fine for me:

(pin3preview_casadi) ➜  build_casadi_pinocchio3 git:(1e7c3a80) ✗ python
Python 3.9.15 | packaged by conda-forge | (main, Nov 22 2022, 15:55:03) 
[GCC 10.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import pinocchio
>>> from pinocchio import casadi as cpin
>>>

the steps I did are the following:

Let me know if this helps you and if you encounter any problems during the build.

AunSiro commented 1 year ago

Hello @fabinsch, thank you for the instructions. I am also trying to use the Pinoccio-Casadi combination. I am trying to follow your steps on macOS 11.4, but got some errors at the last step. The terminal output I got for the whole process was: part 1: https://pastebin.com/9puQuCkx part 2: https://pastebin.com/EvTZdw0d

Before that, I did git clone -b pinocchio3-preview https://github.com/stack-of-tasks/pinocchio.git and cd pinocchio

I don't know if I did something wrong or the problem lies with my OS. I would greatly appreciate if you could take a look. Thank you!

fabinsch commented 1 year ago

Hey @AunSiro,

the problem is fixed with #1812, this is clang related. It should be fine now.

AunSiro commented 1 year ago

Thank you, it worked!

jcarpent commented 1 year ago

Thanks @fabinsch for the nice job. Best, JUstin

johanubbink commented 1 year ago

Hello! Thank you for creating and maintaining this library :)

I have tried to follow the instructions above but I am running into the following errors:

/home/johan/anaconda3/envs/pin3preview_casadi/include/eigenpy/eigen-from-python.hpp:35:8: error: invalid use of incomplete type 'struct eigenpy::expected_pytype_for_arg<Eigen::Matrix<casadi::Matrix<casadi::SXElem>, 3, -1, 0>, Eigen::MatrixBase<Eigen::Matrix<casadi::Matrix<casadi::SXElem>, 3, -1, 0> > >'
   35 | struct expected_pytype_for_arg<
      |        ^~~~~~~~~~~~~~~~~~~~~~~~
   36 |     Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

and

/home/johan/anaconda3/envs/pin3preview_casadi/include/boost/preprocessor/iteration/detail/limits/local_256.hpp:13:9: error: 'get_pytype' is not a member of 'boost::python::converter::expected_pytype_for_arg<Eigen::Matrix<casadi::Matrix<casadi::SXElem>, 3, -1, 0> >'
   13 |         BOOST_PP_LOCAL_MACRO(0)
      |         ^~~~~~~~~~~~~~~~~~~~
In file included from /home/johan/Software/pinocchio/build/include/pinocchio/spatial/inertia.hpp:12,
                 from /home/johan/Software/pinocchio/build/include/pinocchio/multibody/model.hpp:13,
                 from /home/johan/Software/pinocchio/build/include/pinocchio/algorithm/contact-cholesky.hpp:8,
                 from /home/johan/Software/pinocchio/build/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp:9,
                 from /home/johan/Software/pinocchio/bindings/python/algorithm/expose-constrained-dynamics.cpp:8:
/home/johan/Software/pinocchio/build/include/pinocchio/spatial/symmetric3.hpp: In instantiation of 'pinocchio::Symmetric3Tpl<Scalar, Options>::Symmetric3Tpl(const pinocchio::Symmetric3Tpl<Scalar, Options>&) [with _Scalar = casadi::Matrix<casadi::SXElem>; int _Options = 0]':

the exact commands I used are:

conda create --name pin3preview_casadi python=3.9
conda activate pin3preview_casadi
conda install cmake
conda install -c conda-forge casadi
conda install -c conda-forge compilers=1.4.2
conda install -c conda-forge Pinocchio --only-deps
git clone git@github.com:stack-of-tasks/pinocchio.git -b pinocchio3-preview
cd pinocchio
git submodule update --init --recursive
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_CASADI_SUPPORT=ON -DBUILD_TESTING=OFF
make install -j3

Do you have any suggestions what I could try? Not sure if it is relevant, but I use ubuntu 20.04, with boost version 1.78.0 and casadi 3.6.3.

Any help would be appreciated.

Best regards, Johan

Mr-Y-B-L commented 1 year ago

Hello! Thank you for creating and maintaining this library :)

I have tried to follow the instructions above but I am running into the following errors:

/home/johan/anaconda3/envs/pin3preview_casadi/include/eigenpy/eigen-from-python.hpp:35:8: error: invalid use of incomplete type 'struct eigenpy::expected_pytype_for_arg<Eigen::Matrix<casadi::Matrix<casadi::SXElem>, 3, -1, 0>, Eigen::MatrixBase<Eigen::Matrix<casadi::Matrix<casadi::SXElem>, 3, -1, 0> > >'
   35 | struct expected_pytype_for_arg<
      |        ^~~~~~~~~~~~~~~~~~~~~~~~
   36 |     Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

and

/home/johan/anaconda3/envs/pin3preview_casadi/include/boost/preprocessor/iteration/detail/limits/local_256.hpp:13:9: error: 'get_pytype' is not a member of 'boost::python::converter::expected_pytype_for_arg<Eigen::Matrix<casadi::Matrix<casadi::SXElem>, 3, -1, 0> >'
   13 |         BOOST_PP_LOCAL_MACRO(0)
      |         ^~~~~~~~~~~~~~~~~~~~
In file included from /home/johan/Software/pinocchio/build/include/pinocchio/spatial/inertia.hpp:12,
                 from /home/johan/Software/pinocchio/build/include/pinocchio/multibody/model.hpp:13,
                 from /home/johan/Software/pinocchio/build/include/pinocchio/algorithm/contact-cholesky.hpp:8,
                 from /home/johan/Software/pinocchio/build/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp:9,
                 from /home/johan/Software/pinocchio/bindings/python/algorithm/expose-constrained-dynamics.cpp:8:
/home/johan/Software/pinocchio/build/include/pinocchio/spatial/symmetric3.hpp: In instantiation of 'pinocchio::Symmetric3Tpl<Scalar, Options>::Symmetric3Tpl(const pinocchio::Symmetric3Tpl<Scalar, Options>&) [with _Scalar = casadi::Matrix<casadi::SXElem>; int _Options = 0]':

the exact commands I used are:

conda create --name pin3preview_casadi python=3.9
conda activate pin3preview_casadi
conda install cmake
conda install -c conda-forge casadi
conda install -c conda-forge compilers=1.4.2
conda install -c conda-forge Pinocchio --only-deps
git clone git@github.com:stack-of-tasks/pinocchio.git -b pinocchio3-preview
cd pinocchio
git submodule update --init --recursive
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_CASADI_SUPPORT=ON -DBUILD_TESTING=OFF
make install -j3

Do you have any suggestions what I could try? Not sure if it is relevant, but I use ubuntu 20.04, with boost version 1.78.0 and casadi 3.6.3.

Any help would be appreciated.

Best regards, Johan

Hi friend, I am very sorry for asking a question in a closed issue. Have you resolved this issue please？ I am experiencing the same problem. Any help from you is necessary.