pinocchio compatible issue
Closed this issue · 7 comments
Hi,
When I updated the pinocchio to 2.5.4 and found the tsid importation issue like the following:
ImportError: libpinocchio.so.2.4.6: cannot open shared object file: No such file or directory
jack@desktop:~$ dpkg -l | grep robotpkg
ii robotpkg-collada-dom 2.4.0r1 amd64 C++ object representation of a COLLADA XML instance document
ii robotpkg-curves 0.5.2 amd64 Library for creating curves
ii robotpkg-dynamic-graph-v3 4.3.1 amd64 Efficient data-flow C++ library for robotics
ii robotpkg-eigen-quadprog 1.0.1r1 amd64 QuadProg QP solver using the Eigen3 library
ii robotpkg-eiquadprog 1.2.2 amd64 algorithm of Goldfarb and Idnani for the solution of a QP
ii robotpkg-example-robot-data 3.7.0 amd64 Robot URDFs for benchmarking and developed examples
ii robotpkg-hpp-fcl 1.6.0 amd64 Humanoid Path Planner (collision detection and distance computations)
ii robotpkg-libccd 2.0 amd64 collision detection
ii robotpkg-octomap 1.9.0 amd64 An Efficient Probabilistic 3D Mapping Framework Based on Octrees
ii robotpkg-openscenegraph 3.6.5r3 amd64 open source high performance 3D graphics toolkit
ii robotpkg-parametric-curves 1.4.0 amd64 This packages provides a template based parametric curves library.
ii robotpkg-pinocchio 2.5.4 amd64 Efficient rigid body dynamics
ii robotpkg-py27-crocoddyl 1.5.0r1 amd64 Optimal control library for robot under contact sequence
ii robotpkg-py27-curves 0.5.2 amd64 Library for creating curves (python bindings)
ii robotpkg-py27-eigenpy 2.5.0 amd64 Eigen bindings to python
ii robotpkg-py27-example-robot-data 3.7.0 amd64 Robot URDFs for benchmarking and developed examples
ii robotpkg-py27-hpp-fcl 1.6.0 amd64 Humanoid Path Planner (collision detection and distance computations (python bindingss))
ii robotpkg-py27-parametric-curves 1.4.0 amd64 This packages provides a template based parametric curves library (python bindings)
ii robotpkg-py27-pinocchio 2.5.4 amd64 Efficient rigid body dynamics (python bindings)
ii robotpkg-py27-qt4-gepetto-viewer 4.10.1r2 amd64 Humanoid Path Planner (Simple viewer based on OpenSceneGraph)
ii robotpkg-py27-qt4-gepetto-viewer-corba 5.5.1 amd64 Humanoid Path Planner (Corba server for gepetto-viewer)
ii robotpkg-py27-quadprog 0.1.6r1 amd64 Solve a strictly convex quadratic program
ii robotpkg-qt4-osgqt 3.5.7r2 amd64 open source high performance 3D graphics toolkit
ii robotpkg-simple-humanoid-description 1.0.2 amd64 Rigid body model of a simple humanoid robot.
ii robotpkg-tsid 1.4.2 amd64 Efficient Inverse Dynamics based on Pinocchio
Is it possible to solve this issue without compiling it?
As first thing I would try to reinstall tsid:
sudo apt install --reinstall robotpkg-tsid
your TSID is linked to pinochio v2.4.6, while your installed version is the up-to-date v2.5.4. I'd go for a sudo apt update && sudo apt upgrade.
Thanks for your reply. It seems not caused by this issue.
For crocoddyl and pinocchio, they also have been updated but there is not issue.
I tried the above methods, but the error still pops up.
jack@desktop:~$ python
Python 2.7.12 (default, Oct 5 2020, 13:56:01)
[GCC 5.4.0 20160609] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import pinocchio
>>> import crocoddyl
>>> import tsid
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
File "/usr/local/lib/python2.7/dist-packages/tsid/__init__.py", line 1, in <module>
from .libtsid_pywrap import *
ImportError: libpinocchio.so.2.4.6: cannot open shared object file: No such file or directory
Could you show us the output of dpkg -l | grep robotpkg to check if the versions of pinocchio and tsid have been updated?
This is the information.
jack@desktop:~$ dpkg -l | grep robotpkg
ii robotpkg-collada-dom 2.4.0r1 amd64 C++ object representation of a COLLADA XML instance document
ii robotpkg-curves 0.5.2 amd64 Library for creating curves
ii robotpkg-dynamic-graph-v3 4.3.1 amd64 Efficient data-flow C++ library for robotics
ii robotpkg-eigen-quadprog 1.0.1r1 amd64 QuadProg QP solver using the Eigen3 library
ii robotpkg-eiquadprog 1.2.2 amd64 algorithm of Goldfarb and Idnani for the solution of a QP
ii robotpkg-example-robot-data 3.7.0 amd64 Robot URDFs for benchmarking and developed examples
ii robotpkg-hpp-fcl 1.6.0 amd64 Humanoid Path Planner (collision detection and distance computations)
ii robotpkg-libccd 2.0 amd64 collision detection
ii robotpkg-octomap 1.9.0 amd64 An Efficient Probabilistic 3D Mapping Framework Based on Octrees
ii robotpkg-openscenegraph 3.6.5r3 amd64 open source high performance 3D graphics toolkit
ii robotpkg-parametric-curves 1.4.0 amd64 This packages provides a template based parametric curves library.
ii robotpkg-pinocchio 2.5.4 amd64 Efficient rigid body dynamics
ii robotpkg-py27-crocoddyl 1.5.0r1 amd64 Optimal control library for robot under contact sequence
ii robotpkg-py27-curves 0.5.2 amd64 Library for creating curves (python bindings)
ii robotpkg-py27-eigenpy 2.5.0 amd64 Eigen bindings to python
ii robotpkg-py27-example-robot-data 3.7.0 amd64 Robot URDFs for benchmarking and developed examples
ii robotpkg-py27-hpp-fcl 1.6.0 amd64 Humanoid Path Planner (collision detection and distance computations (python bindingss))
ii robotpkg-py27-parametric-curves 1.4.0 amd64 This packages provides a template based parametric curves library (python bindings)
ii robotpkg-py27-pinocchio 2.5.4 amd64 Efficient rigid body dynamics (python bindings)
ii robotpkg-py27-qt4-gepetto-viewer 4.10.1r2 amd64 Humanoid Path Planner (Simple viewer based on OpenSceneGraph)
ii robotpkg-py27-qt4-gepetto-viewer-corba 5.5.1 amd64 Humanoid Path Planner (Corba server for gepetto-viewer)
ii robotpkg-py27-quadprog 0.1.6r1 amd64 Solve a strictly convex quadratic program
ii robotpkg-qt4-osgqt 3.5.7r2 amd64 open source high performance 3D graphics toolkit
ii robotpkg-simple-humanoid-description 1.0.2 amd64 Rigid body model of a simple humanoid robot.
ii robotpkg-tsid 1.4.2 amd64 Efficient Inverse Dynamics based on Pinocchio
I think I figured out the problem.
I just built tsid from source and it worked well now.
Thanks for your help!
File "/usr/local/lib/python2.7/dist-packages/tsid/__init__.py", line 1, in <module>
from .libtsid_pywrap import *
You were importing a TSID build from source and not the binary one. And that one was built on an older version of pinocchio which was upgraded afterwards. re-building it fixed your issue, but the next time pinocchio binaries will update, you'll get the same issue.
So if you don't need to build TSID from source, you should just remove this its manual installation in /usr/local. If you need it… Well don't forget to re-build and re-install it when a dependency is updated :)