search

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
1.83k stars 383 forks source link

Issue importing pinocchio.casadi #2412

Closed AFusco99 closed 3 weeks ago

AFusco99 commented 3 weeks ago

Hello, I am installing pinocchio for the first time but I was running into some issues when I tried to execute the examples in the casadi folder you provided. When I try to import adam.casadi I keep receiving this error 

    import pinocchio.casadi as cpin
  File "/usr/local/lib/python3.8/site-packages/pinocchio/casadi/__init__.py", line 11, in <module>
    from ..pinocchio_pywrap_casadi import *
ImportError: /usr/local/lib/python3.8/site-packages/pinocchio/pinocchio_pywrap_casadi.cpython-38-x86_64-linux-gnu.so: undefined symbol: _ZN6casadi6MatrixINS_6SXElemEE9type_nameB5cxx11Ev

I have tried to install Pinocchio either building it from robotpk or from source following the instructions. Do you have any suggestions on what could be causing this error? Thank you

nim65s commented 3 weeks ago

Hi @AFusco99,

We already had a report that the casadi feature of pinocchio is not working well with robotpkg. This will probably be fixed by the end of the month, but probably not sooner.

To build pinocchio from source with casadi support, how did you install casadi ?

To avoid building pinocchio from source, but still have casadi support, you should probably try conda or nix.

jcarpent commented 3 weeks ago

@AFusco99 If you don't need to interact with other software, I would rather encourage you to install Pinocchio via. 

conda create -c conda-forge -n pinocchio python=3.12 pinocchio
conda activate pinocchio
python -c "import pinocchio.casadi as cpin"
AFusco99 commented 3 weeks ago

Thank you now it works