Building 3.0.0 on OSX fails

[budzianowski]

Bug description

Building from source on python 3.12 gives error: pinocchio/src/parsers/mjcf/mjcf-graph.cpp:41:42: error: call to deleted member function 'get_child' and error: no viable conversion from 'void' to 'ptree' (aka 'basic_ptree<basic_string, basic_string>')

I'm not sure if it's latest version issue or my setup is wrong.

Reproduction steps

Steps to reproduce the behavior: Running according to the instructions: cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local make -j$(nproc)

System

• OS: Mac3
• Pinocchio version: 3.0.0

[jorisv]

Hello,

Can you give me :

• all the dependencies version you are using
• your compiler and compiler version
• how do you have installed them (brew, conda, pip)
• what is Mac3 ?
• what CPU architecture is used (ARM, X64 ?)

Pinocchio 3 is building well on the macos CI agent that run macOS 14 Arm64.

[budzianowski]

Hi @jorisv - yes, I saw the building and that puzzles me. I can build the package successfully if I delete all mjcf parser source code. My setup is: cmake version 3.29.3 all dependencies (eigen boost) installed from brew mac3 pro chip arm

Do you mean python dependencies?

[budzianowski]

Building without mjcf ends up with architecture complaints:

import pinocchio Traceback (most recent call last): File "", line 1, in File "/usr/local/lib/python3.12/site-packages/pinocchio/init.py", line 18, in from .pinocchio_pywrap_default import * ImportError: dlopen(/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.cpython-312-darwin.so, 0x0002): tried: '/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.cpython-312-darwin.so' (mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e' or 'arm64')), '/System/Volumes/Preboot/Cryptexes/OS/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.cpython-312-darwin.so' (no such file), '/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.cpython-312-darwin.so' (mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e' or 'arm64')), '/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.3.0.0.cpython-312-darwin.so' (mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e' or 'arm64')), '/System/Volumes/Preboot/Cryptexes/OS/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.3.0.0.cpython-312-darwin.so' (no such file), '/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.3.0.0.cpython-312-darwin.so' (mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e' or 'arm64'))

Do you have some documentation how to build 3.0.0 cause I'm trying to follow: https://stack-of-tasks.github.io/pinocchio/download.html

[jorisv]

@budzianowski Can you try to build from this PR ?

[budzianowski]

The PR solves the issue.

[budzianowski]

I think the documentation (https://stack-of-tasks.github.io/pinocchio/download.html) should be updated to the latest version of the workflow @jorisv I wanted to make a PR for it but I believe the docs are handled in the separate repo?:

conda env create -f environment.yaml cmake .. \ -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ -DBUILD_WITH_COLLISION_SUPPORT=ON \ -DBUILD_WITH_CASADI_SUPPORT=ON \ -DBUILD_WITH_AUTODIFF_SUPPORT=ON cmake --build . -j2 ctest --output-on-failure cmake --install .

[jorisv]

Right now the documentation is kind of fragmented and out dated, we are aware of it and we will work on it soon.

[nim65s]

I believe the docs are handled in the separate repo?

No, they are in this repo, in the gh-pages branch