Closed waynekyrie closed 1 month ago
Hi @waynekyrie, to simplify, you can create a new conda environment and install Pinocchio using:
conda create --name myenv
conda activate myenv
conda install pinocchio -c conda-forge
Afterward, you can import pinocchio.casadi
. Alternatively, building Pinocchio from source is also an option.
casadi support is not yet enabled on robotpkg. It will be in the following weeks.
Thanks for the prompt reply! Is it the same case that casadi is not supported when using homebrew to install on Mac OS X?
casadi is not supported when using homebrew to install on Mac OS X
correct.
Thanks so much. It is resolved by using conda.
A follow-up question. After I import pinocchio.casadi, I want to use the rnea() function to calculate the inverse dynamics. However, my pos, vel, and acc are in the type of Casadi.MX, whereas rnea() takes Casadi.SX (if I understand correctly). In this case, is it still possible to use rnea(), or are there other ways to do inverse dynamics from MX?
You should use SX and not MX with Pinocchio, as it is much more efficient.
Bug description
I installed Pinocchio following the instructions here https://stack-of-tasks.github.io/pinocchio/download.html using robotpkg on a Ubuntu 20.04 machine with python 3.8. But when I do
import pinocchio.casadi
, it gives the error msg saying no module named pinocchio.casadi.Is there anything else that needs to be done? Thank you.