libcasadi_importer_clang.so: cannot open shared object file: No such file or directory

[ksomml]

I wanted to try out the examples of the github project urdf2casadi and received the following error:

Traceback (most recent call last):
  File "/.../urdf2casadi/examples/numerical/kuka/forward_dynamics_aba_kuka.py", line 24, in <module>
    qddot_sym_aba = kuka.get_forward_dynamics_aba(root, tip, gravity=gravity)
  File "/home/****/.local/lib/python3.10/site-packages/urdf2casadi/urdfparser.py", line 560, in get_forward_dynamics_aba
    q_ddot = cs.Function("q_ddot", [q, q_dot, tau],
  File "/home/****/.local/lib/python3.10/site-packages/casadi/casadi.py", line 23607, in __init__
    this = _casadi.new_Function(*args)
RuntimeError: Error in Function::Function for 'q_ddot' [SXFunction] at .../casadi/core/function.cpp:224:
.../casadi/core/function_internal.cpp:153: Error calling SXFunction::finalize for 'q_ddot':
.../casadi/core/casadi_os.cpp:166: Assertion "handle!=nullptr" failed:
PluginInterface::load_plugin: Cannot load shared library 'libcasadi_importer_clang.so': 
   (
    Searched directories: 1. casadipath from GlobalOptions
                          2. CASADIPATH env var
                          3. PATH env var (Windows)
                          4. LD_LIBRARY_PATH env var (Linux)
                          5. DYLD_LIBRARY_PATH env var (osx)
    A library may be 'not found' even if the file exists:
          * library is not compatible (different compiler/bitness)
          * the dependencies are not found
   )
  Tried '/home/somml/.local/lib/python3.10/site-packages/casadi' :
    Error code: /home/somml/.local/lib/python3.10/site-packages/casadi/libcasadi_importer_clang.so: cannot open shared object file: No such file or directory
  Tried '' :
    Error code: libcasadi_importer_clang.so: cannot open shared object file: No such file or directory
  Tried '.' :
    Error code: ./libcasadi_importer_clang.so: cannot open shared object file: No such file or directory

Not sure if I looked in the right directory but i only found a file called libcasadi_importer_shell.so.3.7 inside /home/****/.local/lib/python3.10/site-packages/casadi.

I installed casadi through pip install casadi. Due to the error message, I thought the issue might be due to Casadi and not the examples of the urdf2casadi github project.

Any hint to fixing this would be appreciated!

[jgillis]

'clang' plugin used to be shipped with casadi binaries, but not any longer since it as a burden to maintain. The suggestion is to use 'shell' instead. You can pass 'compiler' option 'shell' at Functioj construction.