Use the pinocchio.casadi module inside an existing docker container

[FrancescoD98]

Hi, first of all thank you for your amazing work.

I'm currently working on a project on ROS noetic inside an existing docker container using python. I would like to use the new casadi support of pinocchio 3, however I've tried to install the latest version using (1) the installation guide, (2) building it from source and (3) using conda.

• With the first method python doesn't find the module pinocchio.casadi. The installation procedure was to copy-paste exactly the command on the download page.
• When building from source, the error is

  >>> import pinocchio.casadi
  Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/opt/openrobots/lib/python3.8/site-packages/pinocchio/casadi/__init__.py", line 11, in <module>
  from ..pinocchio_pywrap_casadi import *
  ImportError: libcasadi.so.3.7: cannot open shared object file: No such file or directory

  pinocchio was built with the options -DCMAKE_INSTALL_PREFIX=/opt/openrobots and -DBUILD_WITH_CASADI_SUPPORT=ON

• finally the installation with conda works outside the container

Is there anything I'm missing? Could you please provide instructions on how to install everything as it should be?

Thanks in advance for your kind reply.

[caineblood]

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