Building 3.0.0 on OSX fails about pinocchio HOT 8 CLOSED

Right now the documentation is kind of fragmented and out dated, we are aware of it and we will work on it soon.

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Hello,

Can you give me :

• all the dependencies version you are using
• your compiler and compiler version
• how do you have installed them (brew, conda, pip)
• what is Mac3 ?
• what CPU architecture is used (ARM, X64 ?)

Pinocchio 3 is building well on the macos CI agent that run macOS 14 Arm64.

from pinocchio.

Hi @jorisv - yes, I saw the building and that puzzles me. I can build the package successfully if I delete all mjcf parser source code.
My setup is:
cmake version 3.29.3
all dependencies (eigen boost) installed from brew
mac3 pro chip
arm

Do you mean python dependencies?

from pinocchio.

Building without mjcf ends up with architecture complaints:

import pinocchio
Traceback (most recent call last):
File "", line 1, in
File "/usr/local/lib/python3.12/site-packages/pinocchio/init.py", line 18, in
from .pinocchio_pywrap_default import *
ImportError: dlopen(/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.cpython-312-darwin.so, 0x0002): tried: '/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.cpython-312-darwin.so' (mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e' or 'arm64')), '/System/Volumes/Preboot/Cryptexes/OS/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.cpython-312-darwin.so' (no such file), '/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.cpython-312-darwin.so' (mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e' or 'arm64')), '/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.3.0.0.cpython-312-darwin.so' (mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e' or 'arm64')), '/System/Volumes/Preboot/Cryptexes/OS/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.3.0.0.cpython-312-darwin.so' (no such file), '/usr/local/lib/python3.12/site-packages/pinocchio/pinocchio_pywrap_default.3.0.0.cpython-312-darwin.so' (mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e' or 'arm64'))

Do you have some documentation how to build 3.0.0 cause I'm trying to follow: https://stack-of-tasks.github.io/pinocchio/download.html

from pinocchio.

@budzianowski Can you try to build from this PR ?

from pinocchio.

The PR solves the issue.

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I think the documentation (https://stack-of-tasks.github.io/pinocchio/download.html) should be updated to the latest version of the workflow @jorisv I wanted to make a PR for it but I believe the docs are handled in the separate repo?:

conda env create -f environment.yaml
cmake ..
-DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
-DBUILD_WITH_COLLISION_SUPPORT=ON
-DBUILD_WITH_CASADI_SUPPORT=ON
-DBUILD_WITH_AUTODIFF_SUPPORT=ON
cmake --build . -j2
ctest --output-on-failure
cmake --install .

from pinocchio.

I believe the docs are handled in the separate repo?

No, they are in this repo, in the gh-pages branch

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