Trying to compile 3.0.0 with CasADi

[mihirus]

I'm trying to compile 3.0.0 from source with casadi. I followed the "Build from source" page from this guide: https://stack-of-tasks.github.io/pinocchio/download.html but I think it did not install the casadi bindings because I would get a ModuleNotFoundError when I tried to import pinocchio.casadi. They were also not present in the dist-packages folder, and I also verified that 3.0.0 was installed with pinocchio.__version__.

I found 2251 which explains the various compile options and 2223 which gave the explicit cmake command to use these options.

I ran cmake .. -DBUILD_WITH_CASADI_SUPPORT=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local and got the following error. How to proceed from here?

[jorisv]

Hello,

You can look at root CMakeLists.txt to find all possible CMake options. You can also use cmake-gui to have a nice view of them.

How and where did you install Casadi ? Apparently CMake don't find the Casadi finder that help CMake to know where Casadi lib and include are installed.

You can get a look at the Linux workflow that install casadi from robotpkg. This workflow is building pinocchio 3 with casadi on Ubuntu 20 and 22.

[nim65s]

What do you have in /usr/local/lib/python3.10 ? any site-package or dist-package directory ? And what do you have inside that ?

Then, when you run python -c "import sys; print(sys.path)", do you have any directory that looks like what you have in that /usr/local/lib/pinocchio3.10 prefix ?

[mihirus]

/usr/local/lib/python3.10/dist-packages exists on my system but is empty. When I print sys.path the /usr/local/lib/python3.10/dist-packages does indeed show up in the list of paths which I've given below for reference:

['', '/opt/drake/lib/python3.10/site-packages', '/opt/ros/humble/lib/python3.10/site-packages', '/opt/ros/humble/local/lib/python3.10/dist-packages', '/opt/openrobots/lib/python3.10/site-packages', '$HOME', '/usr/lib/python310.zip', '/usr/lib/python3.10', '/usr/lib/python3.10/lib-dynload', '$HOME/.local/lib/python3.10/site-packages', '/usr/local/lib/python3.10/dist-packages', '/usr/lib/python3/dist-packages', '/usr/lib/python3.10/dist-packages']

[nim65s]

python bindings should be installed in the same prefix as dynamic libraries. if you can't find any file that looks like pinocchio_pywrap.cpython-310-x86_64-linux-gnu.so in that prefix, it probably means you compiled pinocchio without python bindings.

Can you double check that BUILD_PYTHON_INTERFACE is ON in your configure folder ? And maybe try to reinstall pinocchio, and look at CMake logs to search for that pinocchio_pywrap file ?

[mihirus]

I found the pywrap and other files in build/bindings/python/pinocchio. I copied this entire pinocchio folder over to /usr/local/lib/python3.10/dist-packages and now I am able to import both pinocchio and pinocchio.casadi!

For the sake of understanding, was there anything I should have done after sudo make install to install the python bindings?

[nim65s]

sudo make install should be enough. You can run that again, and check for those files in the installation logs.