AttributeError: module 'pinocchio' has no attribute 'casadi'

[hojae-io]

Hi,

I installed pinocchio by conda install pinocchio -c conda-forge

I want to use pinocchio.casadi but I either get

>>> import pinocchio
>>> pinocchio.casadi
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
AttributeError: module 'pinocchio' has no attribute 'casadi'

or

>>> from pinocchio import casadi
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ImportError: cannot import name 'casadi' from 'pinocchio' (/home/hjlee/anaconda3/envs/test/lib/python3.8/site-packages/pinocchio/__init__.py)

How can I use casadi extension of the pinocchio?
Should I install using source directly?

[AjSat]

Hello, since you have installed Pinocchio through conda, CasADi should be automatically installed in the conda environment. However it needs to be first imported as

import pinocchio.casadi

• Check out the usage examples in https://github.com/stack-of-tasks/pinocchio/tree/devel/examples/casadi
• Also check out the advanced tutorials subsection at the following link. (some of the code here may be slightly outdated) https://github.com/agimus-project/winter-school-2023/tree/main/simulation/sim1_rigid_body

[jcarpent]

@hojae-io Could you provide the outputs of conda list and python -c "import pinocchio; print(pinocchio.__path__)"?