Having a problem building pinocchio3-preview with casadi

[Qrpucp]

Bug description

Thank you for your great work!

I'm trying to use pinocchio and casadi, and I know from #1356 that I need to compile pinocchio3-preview to get pinocchio3 to support casadi.

But when I followed the instructions in #1807 to compile pinocchio3-preview, I got the following error.

/opt/conda/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 order to verify whether this problem was related to my personal configuration, I also tried it in docker and encountered the same error. And I think he encountered the same error as me.

By the way, does pinocchio2.9x provide the functions of pinocchio3? If so, does this mean I don't need to compile it manually?

Reproduction steps

I executed the following command based on the docker-anaconda image. It is almost identical to the one in #1807, except that make is installed.

• conda create --name pin3preview_casadi python=3.9
• conda activate pin3preview_casadi
• conda install cmake make casadi compilers=1.4.2
• conda install Pinocchio --only-deps
• Clone the code and switch to pinocchio3-preview branch
• cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_CASADI_SUPPORT=ON -DBUILD_TESTING=OFF
• make

Docker image

The image has been uploaded to DockerHub.

After creating the container, you need to run conda activate pin3preview_casadi to activate the virtual environment. The code is under /root.

[Mr-Y-B-L]

Hello, have you solved the problem? I'm having the exact same problem as you.

[GianniLunardi]

Hi all, I am trying to intarface pinocchio-casadi with acados, to directly integrate robot dynamics in the OCP formulation. But I have the same problem as reported above and I cannot compile pinocchio3-preview.

[Mr-Y-B-L]

Hi all, I am trying to intarface pinocchio-casadi with acados, to directly integrate robot dynamics in the OCP formulation. But I have the same problem as reported above and I cannot compile pinocchio3-preview.

Sorry, I haven't found a solution yet.But the jnrh-2023 project can help bind Pinocchio3 with Python