blf.ik.QPInverseKinematics.add_task stops working when the bindings are compiled using conda

[GiulioRomualdi]

If I compile the bindings with the dependencies installed by conda and I run the following code I got this error

In [1]: import bipedal_locomotion_framework.bindings as blf

In [2]: so3_task = blf.ik.SO3Task()

In [3]: help(so3_task)


In [4]: qp_ik = blf.ik.QPInverseKinematics()

In [5]: qp_ik.add_task(so3_task, "c", 0)
---------------------------------------------------------------------------
TypeError                                 Traceback (most recent call last)
Input In [5], in <cell line: 1>()
----> 1 qp_ik.add_task(so3_task, "c", 0)

TypeError: add_task(): incompatible function arguments. The following argument types are supported:
    1. (self: bipedal_locomotion_framework.bindings.ik.ILinearTaskSolverIK, task: bipedal_locomotion_framework.bindings.ik.IKLinearTask, task_name: str, priority: int, weight: Optional[numpy.ndarray[numpy.float64[m, 1]]] = array([], dtype=float64)) -> bool

Invoked with: ====== QPInverseKinematics class ======
The optimization problem is composed by the following tasks:
Note: The lower is the integer associated to the priority, the higher is the priority.
==========================
, Generic Linear Task Element, 'c', 0

On the other hand if I compile them with apt dependencies everything went smooth

In [1]: import bipedal_locomotion_framework.bindings as blf

In [2]: so3_task = blf.ik.SO3Task()

In [3]: qp_ik = blf.ik.QPInverseKinematics()

In [4]: qp_ik.add_task(so3_task, "c", 0)
Out[4]: True

this is the outcome of conda list

# packages in environment at /home/gromualdi/mambaforge/envs/blf-env:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
ace                       7.0.7                h27087fc_0    conda-forge
alsa-lib                  1.2.6.1              h7f98852_0    conda-forge
ampl-mp                   3.1.0             h2cc385e_1006    conda-forge
aom                       3.3.0                h27087fc_1    conda-forge
assimp                    5.2.4                h4c92fa2_0    conda-forge
asttokens                 2.0.5              pyhd8ed1ab_0    conda-forge
attr                      2.5.1                h166bdaf_0    conda-forge
attrs                     21.4.0             pyhd8ed1ab_0    conda-forge
backcall                  0.2.0              pyh9f0ad1d_0    conda-forge
backports                 1.0                        py_2    conda-forge
backports.functools_lru_cache 1.6.4              pyhd8ed1ab_0    conda-forge
binutils                  2.36.1               hdd6e379_2    conda-forge
binutils_impl_linux-64    2.36.1               h193b22a_2    conda-forge
binutils_linux-64         2.36                hf3e587d_10    conda-forge
boost-cpp                 1.74.0               h75c5d50_8    conda-forge
bzip2                     1.0.8                h7f98852_4    conda-forge
c-ares                    1.18.1               h7f98852_0    conda-forge
c-compiler                1.4.2                h166bdaf_0    conda-forge
ca-certificates           2022.6.15            ha878542_0    conda-forge
cairo                     1.16.0            ha61ee94_1011    conda-forge
casadi                    3.5.5           py39hc796803_10    conda-forge
catch2                    2.13.9               h924138e_0    conda-forge
cmake                     3.23.2               h5432695_0    conda-forge
compilers                 1.4.2                ha770c72_0    conda-forge
cppad                     20220000.4           h27087fc_0    conda-forge
curl                      7.83.1               h7bff187_0    conda-forge
cxx-compiler              1.4.2                h924138e_0    conda-forge
dbus                      1.13.6               h5008d03_3    conda-forge
decorator                 5.1.1              pyhd8ed1ab_0    conda-forge
double-conversion         3.2.0                h9c3ff4c_0    conda-forge
eigen                     3.4.0                h4bd325d_0    conda-forge
elfutils                  0.186                he364ef2_0    conda-forge
executing                 0.8.3              pyhd8ed1ab_0    conda-forge
expat                     2.4.8                h27087fc_0    conda-forge
expat-cos6-x86_64         2.0.1             h9b0a68f_1105    conda-forge
ffmpeg                    4.4.2                habc3f16_0    conda-forge
fftw                      3.3.10          nompi_h77c792f_102    conda-forge
flann                     1.9.1             hfe772e8_1010    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 hab24e00_0    conda-forge
fontconfig                2.14.0               h8e229c2_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
fortran-compiler          1.4.2                h2a4ca65_0    conda-forge
freeglut                  3.2.2                h9c3ff4c_1    conda-forge
freetype                  2.10.4               h0708190_1    conda-forge
gcc                       10.3.0              he2824d0_10    conda-forge
gcc_impl_linux-64         10.3.0              hf2f2afa_16    conda-forge
gcc_linux-64              10.3.0              hc39de41_10    conda-forge
gettext                   0.19.8.1          h73d1719_1008    conda-forge
gfortran                  10.3.0              h18518b4_10    conda-forge
gfortran_impl_linux-64    10.3.0              h73f4979_16    conda-forge
gfortran_linux-64         10.3.0              hb09a455_10    conda-forge
giflib                    5.2.1                h36c2ea0_2    conda-forge
gl2ps                     1.4.2                h0708190_0    conda-forge
glew                      2.1.0                h9c3ff4c_2    conda-forge
glib                      2.70.2               h780b84a_4    conda-forge
glib-tools                2.70.2               h780b84a_4    conda-forge
gmp                       6.2.1                h58526e2_0    conda-forge
gnutls                    3.7.6                hf3e180e_5    conda-forge
graphite2                 1.3.13            h58526e2_1001    conda-forge
gst-plugins-base          1.20.3               hf6a322e_0    conda-forge
gstreamer                 1.20.3               hd4edc92_0    conda-forge
gxx                       10.3.0              he2824d0_10    conda-forge
gxx_impl_linux-64         10.3.0              hf2f2afa_16    conda-forge
gxx_linux-64              10.3.0              h2593f52_10    conda-forge
harfbuzz                  4.3.0                hf9f4e7c_0    conda-forge
hdf4                      4.2.15               h10796ff_3    conda-forge
hdf5                      1.12.1          nompi_h2386368_104    conda-forge
icu                       70.1                 h27087fc_0    conda-forge
icub-models               1.24.1           py39h5a03fae_0    conda-forge
idyntree                  5.2.1            py39hf4e83cc_2    conda-forge
iniconfig                 1.1.1              pyh9f0ad1d_0    conda-forge
ipopt                     3.14.7               hc8a599a_0    conda-forge
ipython                   8.4.0            py39hf3d152e_0    conda-forge
irrlicht                  1.8.5                h80a045a_2    conda-forge
jack                      1.9.18            h8c3723f_1002    conda-forge
jasper                    2.0.33               ha77e612_0    conda-forge
jedi                      0.18.1           py39hf3d152e_1    conda-forge
jpeg                      9e                   h166bdaf_1    conda-forge
jsoncpp                   1.9.5                h4bd325d_1    conda-forge
kernel-headers_linux-64   2.6.32              he073ed8_15    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
krb5                      1.19.3               h3790be6_0    conda-forge
lame                      3.100             h7f98852_1001    conda-forge
lcms2                     2.12                 hddcbb42_0    conda-forge
ld_impl_linux-64          2.36.1               hea4e1c9_2    conda-forge
lerc                      3.0                  h9c3ff4c_0    conda-forge
libarchive                3.5.2                hb890918_3    conda-forge
libblas                   3.9.0           15_linux64_openblas    conda-forge
libcap                    2.64                 ha37c62d_0    conda-forge
libcblas                  3.9.0           15_linux64_openblas    conda-forge
libclang                  14.0.6          default_h2e3cab8_0    conda-forge
libclang13                14.0.6          default_h3a83d3e_0    conda-forge
libcups                   2.3.3                hf5a7f15_1    conda-forge
libcurl                   7.83.1               h7bff187_0    conda-forge
libdb                     6.2.32               h9c3ff4c_0    conda-forge
libdeflate                1.12                 h166bdaf_0    conda-forge
libdrm                    2.4.111              h166bdaf_0    conda-forge
libdrm-cos6-x86_64        2.4.65            h9b0a68f_1105    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libev                     4.33                 h516909a_1    conda-forge
libevent                  2.1.10               h9b69904_4    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libflac                   1.3.4                h27087fc_0    conda-forge
libgcc-devel_linux-64     10.3.0              he6cfe16_16    conda-forge
libgcc-ng                 12.1.0              h8d9b700_16    conda-forge
libgfortran-ng            12.1.0              h69a702a_16    conda-forge
libgfortran5              12.1.0              hdcd56e2_16    conda-forge
libglib                   2.70.2               h174f98d_4    conda-forge
libglu                    9.0.0             he1b5a44_1001    conda-forge
libgomp                   12.1.0              h8d9b700_16    conda-forge
libi2c                    4.3                  h9c3ff4c_0    conda-forge
libiconv                  1.16                 h516909a_0    conda-forge
libidn2                   2.3.2                h7f98852_0    conda-forge
liblapack                 3.9.0           15_linux64_openblas    conda-forge
liblapacke                3.9.0           15_linux64_openblas    conda-forge
libllvm14                 14.0.6               he0ac6c6_0    conda-forge
libmatio                  1.5.21               hdf44fe6_1    conda-forge
libmicrohttpd             0.9.75               h2603550_1    conda-forge
libnetcdf                 4.8.1           nompi_h329d8a1_102    conda-forge
libnghttp2                1.47.0               h727a467_0    conda-forge
libnsl                    2.0.0                h7f98852_0    conda-forge
libogg                    1.3.4                h7f98852_1    conda-forge
libopenblas               0.3.20          pthreads_h78a6416_0    conda-forge
libopencv                 4.5.5           py39hd011c1b_12    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libosqp                   0.6.2                h9c3ff4c_3    conda-forge
libpciaccess              0.16                 h516909a_0    conda-forge
libpng                    1.6.37               h21135ba_2    conda-forge
libpq                     14.4                 hd77ab85_0    conda-forge
libprotobuf               3.20.1               h6239696_0    conda-forge
libsanitizer              10.3.0              h26c7422_16    conda-forge
libselinux-cos6-x86_64    2.0.94            h9b0a68f_1105    conda-forge
libsepol-cos6-x86_64      2.0.41            h9b0a68f_1105    conda-forge
libsndfile                1.0.31               h9c3ff4c_1    conda-forge
libsodium                 1.0.18               h36c2ea0_1    conda-forge
libssh2                   1.10.0               ha56f1ee_2    conda-forge
libstdcxx-devel_linux-64  10.3.0              he6cfe16_16    conda-forge
libstdcxx-ng              12.1.0              ha89aaad_16    conda-forge
libtasn1                  4.18.0               h166bdaf_1    conda-forge
libtheora                 1.1.1             h7f98852_1005    conda-forge
libtiff                   4.4.0                hc85c160_1    conda-forge
libtool                   2.4.6             h9c3ff4c_1008    conda-forge
libudev1                  249                  h166bdaf_4    conda-forge
libunistring              0.9.10               h7f98852_0    conda-forge
libuuid                   2.32.1            h7f98852_1000    conda-forge
libuv                     1.43.0               h7f98852_0    conda-forge
libva                     2.14.0               h7f98852_0    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.11.0               h9c3ff4c_3    conda-forge
libwebp                   1.2.2                h3452ae3_0    conda-forge
libwebp-base              1.2.2                h7f98852_1    conda-forge
libx11-common-cos6-x86_64 1.6.4             h9b0a68f_1105    conda-forge
libx11-cos6-x86_64        1.6.4             h9b0a68f_1105    conda-forge
libxau-cos6-x86_64        1.0.6             h9b0a68f_1105    conda-forge
libxcb                    1.13              h7f98852_1004    conda-forge
libxcb-cos6-x86_64        1.12              h9b0a68f_1105    conda-forge
libxdamage-cos6-x86_64    1.1.3             h9b0a68f_1105    conda-forge
libxext-cos6-x86_64       1.3.3             h9b0a68f_1105    conda-forge
libxfixes-cos6-x86_64     5.0.3             h9b0a68f_1105    conda-forge
libxkbcommon              1.0.3                he3ba5ed_0    conda-forge
libxml2                   2.9.14               h22db469_0    conda-forge
libxxf86vm-cos6-x86_64    1.1.3             h9b0a68f_1105    conda-forge
libzip                    1.8.0                h4de3113_1    conda-forge
libzlib                   1.2.12               h166bdaf_1    conda-forge
lie-group-controllers     0.1.1               h27087fc_56    robotology
loguru                    0.6.0            py39hf3d152e_1    conda-forge
lz4-c                     1.9.3                h9c3ff4c_1    conda-forge
lzo                       2.10              h516909a_1000    conda-forge
make                      4.3                  hd18ef5c_1    conda-forge
manif                     0.0.4                h27087fc_7    conda-forge
manifpy                   0.0.4            py39h965f727_7    conda-forge
matio-cpp                 0.2.0               heeee143_56    robotology
matplotlib-inline         0.1.3              pyhd8ed1ab_0    conda-forge
mesa-dri-drivers-cos6-x86_64 11.0.7            h9b0a68f_1105    conda-forge
mesa-dri1-drivers-cos6-x86_64 7.11              h9b0a68f_1105    conda-forge
mesa-libgl-cos6-x86_64    11.0.7            h9b0a68f_1105    conda-forge
mesa-libgl-devel-cos6-x86_64 11.0.7            h9b0a68f_1105    conda-forge
mesalib                   21.2.5               h0e4506f_3    conda-forge
meshcat-python            0.3.2              pyhd8ed1ab_0    conda-forge
metis                     5.1.0             h58526e2_1006    conda-forge
mumps-include             5.2.1               ha770c72_11    conda-forge
mumps-seq                 5.2.1               h2104b81_11    conda-forge
mysql-common              8.0.29               haf5c9bc_1    conda-forge
mysql-libs                8.0.29               h28c427c_1    conda-forge
ncurses                   6.3                  h27087fc_1    conda-forge
nettle                    3.8                  hc379101_0    conda-forge
ninja                     1.11.0               h924138e_0    conda-forge
nlohmann_json             3.10.5               h9c3ff4c_0    conda-forge
nspr                      4.32                 h9c3ff4c_1    conda-forge
nss                       3.78                 h2350873_0    conda-forge
numpy                     1.23.0           py39hba7629e_0    conda-forge
opencv                    4.5.5           py39hf3d152e_12    conda-forge
openh264                  2.1.1                h780b84a_0    conda-forge
openjpeg                  2.4.0                hb52868f_1    conda-forge
openssl                   1.1.1p               h166bdaf_0    conda-forge
osqp-eigen                0.7.0                h9c3ff4c_0    conda-forge
p11-kit                   0.24.1               hc5aa10d_0    conda-forge
packaging                 21.3               pyhd8ed1ab_0    conda-forge
parso                     0.8.3              pyhd8ed1ab_0    conda-forge
pcl                       1.12.0               h0d390f6_2    conda-forge
pcre                      8.45                 h9c3ff4c_0    conda-forge
pexpect                   4.8.0              pyh9f0ad1d_2    conda-forge
pickleshare               0.7.5                   py_1003    conda-forge
pillow                    9.1.1            py39hae2aec6_1    conda-forge
pip                       22.1.2             pyhd8ed1ab_0    conda-forge
pixman                    0.40.0               h36c2ea0_0    conda-forge
pkg-config                0.29.2            h36c2ea0_1008    conda-forge
pluggy                    1.0.0            py39hf3d152e_3    conda-forge
portaudio                 19.6.0               h57a0ea0_5    conda-forge
proj                      9.0.1                h93bde94_0    conda-forge
prompt-toolkit            3.0.30             pyha770c72_0    conda-forge
pthread-stubs             0.4               h36c2ea0_1001    conda-forge
ptyprocess                0.7.0              pyhd3deb0d_0    conda-forge
pugixml                   1.11.4               h9c3ff4c_0    conda-forge
pulseaudio                14.0                 h7f54b18_8    conda-forge
pure_eval                 0.2.2              pyhd8ed1ab_0    conda-forge
py                        1.11.0             pyh6c4a22f_0    conda-forge
py-opencv                 4.5.5           py39hef51801_12    conda-forge
pybind11                  2.9.2            py39hf939315_1    conda-forge
pybind11-abi              4                    hd8ed1ab_3    conda-forge
pybind11-global           2.9.2            py39hf939315_1    conda-forge
pygments                  2.12.0             pyhd8ed1ab_0    conda-forge
pyngrok                   5.1.0              pyhd8ed1ab_0    conda-forge
pyparsing                 3.0.9              pyhd8ed1ab_0    conda-forge
pytest                    7.1.2            py39hf3d152e_0    conda-forge
python                    3.9.13          h9a8a25e_0_cpython    conda-forge
python_abi                3.9                      2_cp39    conda-forge
pyyaml                    6.0              py39hb9d737c_4    conda-forge
pyzmq                     23.2.0           py39headdf64_0    conda-forge
qhull                     2020.2               h4bd325d_2    conda-forge
qt-main                   5.15.4               ha5833f6_2    conda-forge
readline                  8.1.2                h0f457ee_0    conda-forge
rhash                     1.4.3                h166bdaf_0    conda-forge
robot-testing-framework   2.0.1                h27087fc_0    conda-forge
scipy                     1.8.1            py39he49c0e8_0    conda-forge
scotch                    6.0.9                hb2e6521_2    conda-forge
sdl                       1.2.52               h27087fc_1    conda-forge
sdl2                      2.0.22               h27087fc_1    conda-forge
setuptools                62.6.0           py39hf3d152e_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
soxr                      0.1.3                h166bdaf_2    conda-forge
spdlog                    1.10.0               h924138e_0    conda-forge
sqlite                    3.39.0               h4ff8645_0    conda-forge
stack_data                0.3.0              pyhd8ed1ab_0    conda-forge
svt-av1                   1.1.0                h27087fc_1    conda-forge
sysroot_linux-64          2.12                he073ed8_15    conda-forge
tbb                       2021.5.0             h924138e_1    conda-forge
tbb-devel                 2021.5.0             h924138e_1    conda-forge
tinyxml                   2.6.2                h4bd325d_2    conda-forge
tk                        8.6.12               h27826a3_0    conda-forge
tl-optional               1.0.0                h4bd325d_1    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
tomlplusplus              3.1.0                h27087fc_0    conda-forge
tornado                   6.1              py39hb9d737c_3    conda-forge
traitlets                 5.3.0              pyhd8ed1ab_0    conda-forge
tzdata                    2022a                h191b570_0    conda-forge
u-msgpack-python          2.7.1              pyh9f0ad1d_0    conda-forge
unicycle-footstep-planner 0.4.1               h27087fc_56    robotology
unixodbc                  2.3.10               h583eb01_0    conda-forge
utfcpp                    3.2.1                ha770c72_0    conda-forge
vtk                       9.1.0           qt_py39he4fa311_210    conda-forge
wcwidth                   0.2.5              pyh9f0ad1d_2    conda-forge
wheel                     0.37.1             pyhd8ed1ab_0    conda-forge
x264                      1!161.3030           h7f98852_1    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xcb-util                  0.4.0                h166bdaf_0    conda-forge
xcb-util-image            0.4.0                h166bdaf_0    conda-forge
xcb-util-keysyms          0.4.0                h166bdaf_0    conda-forge
xcb-util-renderutil       0.3.9                h166bdaf_0    conda-forge
xcb-util-wm               0.4.1                h166bdaf_0    conda-forge
xorg-damageproto          1.2.1             h7f98852_1002    conda-forge
xorg-fixesproto           5.0               h7f98852_1002    conda-forge
xorg-glproto              1.4.17            h7f98852_1002    conda-forge
xorg-inputproto           2.3.2             h7f98852_1002    conda-forge
xorg-kbproto              1.0.7             h7f98852_1002    conda-forge
xorg-libice               1.0.10               h7f98852_0    conda-forge
xorg-libsm                1.2.3             hd9c2040_1000    conda-forge
xorg-libx11               1.7.2                h7f98852_0    conda-forge
xorg-libxau               1.0.9                h7f98852_0    conda-forge
xorg-libxdamage           1.1.5                h7f98852_1    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h7f98852_1    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxi                1.7.10               h7f98852_0    conda-forge
xorg-libxrandr            1.5.2                h7f98852_1    conda-forge
xorg-libxrender           0.9.10            h7f98852_1003    conda-forge
xorg-libxt                1.2.1                h7f98852_2    conda-forge
xorg-randrproto           1.5.0             h7f98852_1001    conda-forge
xorg-renderproto          0.11.1            h7f98852_1002    conda-forge
xorg-util-macros          1.19.3               h7f98852_0    conda-forge
xorg-xextproto            7.3.0             h7f98852_1002    conda-forge
xorg-xf86vidmodeproto     2.3.1             h7f98852_1002    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.5                h516909a_1    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
yarp                      3.7.1                ha770c72_0    conda-forge
yarp-cxx                  3.7.1                hfee3fe3_0    conda-forge
yarp-python               3.7.1            py39h5a03fae_0    conda-forge
ycm-cmake-modules         0.14.2               h27087fc_0    conda-forge
zeromq                    4.3.4                h9c3ff4c_1    conda-forge
zlib                      1.2.12               h166bdaf_1    conda-forge
zstd                      1.5.2                h8a70e8d_1    conda-forge

[traversaro]

I think the core issue are the checks done by pybind11 that are a bit overconservative, see:

• Problem in downstream library if built with a gcc major version different from the one used to build manifpy conda-forge/manif-feedstock#19
• Conda CI manifpy failure #514
• Bindings incompatibility between bipedal_locomotion_framework and manifpy #386
• Does pybind11-abi shield from using different versions of GCC conda-forge/pybind11-feedstock#77
• [BUG]: Unable to convert function return value to a Python type pybind/pybind11#3751

[traversaro]

I can give it a shot and rebuild the manif conda package, but this is indeed quite problematic.

[GiulioRomualdi]

I was also thinking that the problem was related to pybind however here the CI was running correctly and the version of pybind was 2.9.2 the very same that is used now

[traversaro]

I was also thinking that the problem was related to pybind however here the CI was running correctly and the version of pybind was 2.9.2 the very same that is used now

To clarify, I think the problem is not related to the version of pybind11, but rather the gcc version used to compiled manifpy vs the gcc version used to compile blf. However, looking at https://github.com/conda-forge/manif-feedstock/pull/21/files it seems that the only OS in which the compiler version changed is macOS. However, the difference could be related to the numpy version? That changed.

[GiulioRomualdi]

Installing numpy 1.22.4 instead of numpy 1.23.0 from conda fixes the problem

[traversaro]

Installing numpy 1.22.4 from conda fixes the problem

Probably the best option is to add a run dependency of manifpy on the precise version of numpy with which it is built.

[GiulioRomualdi]

While for blf is already like this right? https://github.com/robotology/robotology-superbuild/blob/27e970124efff73bb9aaf0545d79dbe297a26c84/cmake/Buildbipedal-locomotion-framework.cmake#L77

[traversaro]

While for blf is already like this right? https://github.com/robotology/robotology-superbuild/blob/27e970124efff73bb9aaf0545d79dbe297a26c84/cmake/Buildbipedal-locomotion-framework.cmake#L77

Unfortunatly, not. I checked the info/index.json from a blf conda package, and it is:

{
  "arch": "x86_64",
  "build": "py39hddcaf54_57",
  "build_number": 57,
  "depends": [
    "casadi >=3.5.5,<3.6.0a0",
    "cppad >=20220000.4,<20220000.5.0a0",
    "eigen",
    "idyntree >=5.2.1,<6.0a0",
    "libgcc-ng >=12",
    "libstdcxx-ng >=12",
    "lie-group-controllers >=0.1.1,<0.1.2.0a0",
    "matio-cpp >=0.2.0,<0.2.1.0a0",
    "numpy >=1.19.5,<2.0a0",
    "osqp-eigen >=0.7.0,<0.7.1.0a0",
    "pybind11-abi 4",
    "python >=3.9,<3.10.0a0",
    "python_abi 3.9.* *_cp39",
    "qhull >=2020.2,<2020.3.0a0",
    "spdlog >=1.10.0,<1.11.0a0",
    "unicycle-footstep-planner >=0.4.1,<0.4.2.0a0",
    "yarp-cxx >=3.7.1,<3.7.2.0a0",
    "yarp-telemetry >=0.5.1,<0.5.2.0a0"
  ],
  "name": "bipedal-locomotion-framework",
  "platform": "linux",
  "subdir": "linux-64",
  "timestamp": 1656381946169,
  "version": "0.7.0"
}

[traversaro]

Installing numpy 1.22.4 from conda fixes the problem

Probably the best option is to add a run dependency of manifpy on the precise version of numpy with which it is built.

Done in traversaro/manif-feedstock@23e95e8 .

[traversaro]

While for blf is already like this right? https://github.com/robotology/robotology-superbuild/blob/27e970124efff73bb9aaf0545d79dbe297a26c84/cmake/Buildbipedal-locomotion-framework.cmake#L77

Unfortunatly, not. I checked the info/index.json from a blf conda package, and it is:

{
  "arch": "x86_64",
  "build": "py39hddcaf54_57",
  "build_number": 57,
  "depends": [
    "casadi >=3.5.5,<3.6.0a0",
    "cppad >=20220000.4,<20220000.5.0a0",
    "eigen",
    "idyntree >=5.2.1,<6.0a0",
    "libgcc-ng >=12",
    "libstdcxx-ng >=12",
    "lie-group-controllers >=0.1.1,<0.1.2.0a0",
    "matio-cpp >=0.2.0,<0.2.1.0a0",
    "numpy >=1.19.5,<2.0a0",
    "osqp-eigen >=0.7.0,<0.7.1.0a0",
    "pybind11-abi 4",
    "python >=3.9,<3.10.0a0",
    "python_abi 3.9.* *_cp39",
    "qhull >=2020.2,<2020.3.0a0",
    "spdlog >=1.10.0,<1.11.0a0",
    "unicycle-footstep-planner >=0.4.1,<0.4.2.0a0",
    "yarp-cxx >=3.7.1,<3.7.2.0a0",
    "yarp-telemetry >=0.5.1,<0.5.2.0a0"
  ],
  "name": "bipedal-locomotion-framework",
  "platform": "linux",
  "subdir": "linux-64",
  "timestamp": 1656381946169,
  "version": "0.7.0"
}

Not sure if it worth trying to implement something like that on robotology-superbuild, or it make more sense to just move blf to conda-forge .

[GiulioRomualdi]

This has been fixed by #545 (comment)
Thank you @traversaro