[Bug Report] No module named 'pinocchio' - Robomimic pipeline for Humanoid Robot

[RiccardoZuppetti]

Describe the bug

Currently when I try to reproduce the steps here (generation, training, and visualization) although I have verified that both IsaacSim and IsaacLab work correctly, I cannot launch any of the aforementioned steps.

Steps to reproduce

I've just tried to reproduce the generation step, the training step reported here.

Traceback (most recent call last):
  File "/home/ubuntu/IsaacLab/scripts/imitation_learning/isaaclab_mimic/generate_dataset.py", line 50, in <module>
    import pinocchio  # noqa: F401
ModuleNotFoundError: No module named 'pinocchio'

System Info

• Commit: 3d6f55b
• Isaac Sim Version: 4.5.0
• OS: Ubuntu 22.04
• GPU: A10G
• CUDA: 12.6
• GPU Driver: 560.35.03

Checklist

• [x] I have checked that there is no similar issue in the repo (required)
• [x] I have checked that the issue is not in running Isaac Sim itself and is related to the repo

[RandomOakForest]

Thank you for posting this. The team will review.

[RiccardoZuppetti]

On top of that, I've also revert the commit for robomimic in order to get that everything works fine within Isaac Lab, since it has been updated recently.

[kellyguo11]

Could you confirm if you are using a conda env? When installing (on ubuntu), it should include the pin-pink library which will automatically pull in pinocchio as a dep. Please verify that both of these are installed correctly by running: pip show pin-pink and pip show pin. If either of those do not show up, then you can install with: pip install pin-pink==3.1.0 and pip install pin==2.7.0

[RiccardoZuppetti]

Yes, actually I'm using a conda env for isaaclab as suggested here. Regarding the packages, I can confirm that both are already installed. By the way, with the built-in python for isaaclab I still get the error:

>>> import pinocchio
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ModuleNotFoundError: No module named 'pinocchio'

Let me also say that isaaclab works fine apart from the stuff related to pinocchio.

[kellyguo11]

are you launching with the --enable_pinocchio flag?

[RiccardoZuppetti]

are you launching with the --enable_pinocchio flag?

Yes, I'm launching with this flag.

[CalvinZhan-NKUST]

Hi,

I also have a similar issue about pinocchio module.

Error message below:

Traceback (most recent call last):
  File "/home/user/docker_shared/IsaacLab/scripts/tools/replay_demos.py", line 68, in <module>
    import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
  File "/home/user/docker_shared/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/__init__.py", line 14, in <module>
    from . import agents, pickplace_gr1t2_env_cfg
  File "/home/user/docker_shared/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py", line 14, in <module>
    from pink.tasks import FrameTask
  File "/home/user/docker_shared/env_isaaclab/lib/python3.10/site-packages/pink/__init__.py", line 10, in <module>
    from .configuration import Configuration
  File "/home/user/docker_shared/env_isaaclab/lib/python3.10/site-packages/pink/configuration.py", line 22, in <module>
    from .limits import ConfigurationLimit, VelocityLimit
  File "/home/user/docker_shared/env_isaaclab/lib/python3.10/site-packages/pink/limits/__init__.py", line 9, in <module>
    from .acceleration_limit import AccelerationLimit
  File "/home/user/docker_shared/env_isaaclab/lib/python3.10/site-packages/pink/limits/acceleration_limit.py", line 18, in <module>
    class AccelerationLimit(Limit):
  File "/home/user/docker_shared/env_isaaclab/lib/python3.10/site-packages/pink/limits/acceleration_limit.py", line 45, in AccelerationLimit
    model: pin.Model
AttributeError: module 'pinocchio' has no attribute 'Model'

Steps to reproduce

Run teleoperation script

./isaaclab.sh -p scripts/tools/replay_demos.py \
--device cpu \
--task Isaac-PickPlace-GR1T2-Abs-v0 \
--dataset_file ./datasets/datasets/dataset_gr1.hdf5 --enable_pinocchio

System Info

• Commit: https://github.com/isaac-sim/IsaacLab/commit/24a78b688e6edd1a883c8d66ffb0f189f97e458c
• Isaac Sim Version: 4.5.0
• OS: Ubuntu 22.04
• GPU: RTX 5080
• CUDA: 12.8
• GPU Driver: 570.124.04

[chwenjun225]

Could you try this, In my case, I downgrade the version pip install --no-deps --force pin-pink==3.3.0