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[fennel-labs]

First of all, PROX-QP looks very impressive and I'm looking forward to experimenting with it.

While trying to reproduce your paper's results, I started setting up a conda environment for the benchmark suite according to the Readme. Unfortunately, the versions of the packages are missing, resulting in a really slow process that did not finish within 30 minutes on my machine.

Could you please specify the correct version or add a environment.yml to the repo?
Furthermore, the linked information on how to build qpOASES seems to be incompatible with conda.

[jcarpent]

Did you start from a clean environment (conda create -n proxqp-bench)?
You should also use mamba for a faster dependency resolution (https://github.com/mamba-org/mamba).

For QPOASES, we will try to come with a clean way of installing it on conda soon.

[fennel-labs]

That was my first suspicion as well.
However, even running it from a clean docker container with python:3.9-buster image and manually installing conda didn't help either.

I also tried installing qpoases by guessing, but this results in a loader error, claiming that some symbol is not found in the qpoases library, as soon as import qpoases is invoked.

[jcarpent]

For Qpoases, please look at this page https://scaron.info/doc/qpsolvers/installation.html#qpoases for easy installation

[fennel-labs]

Okay, so far I found out, that Python 3.8 and 3.9 do not work in my setup, but 3.7 works except for qpoases, at least without specifying any special package version during conda install.

The qpoases error persists with your installation manual. It is

python -c "import qpoases"  
Traceback (most recent call last):
  File "<string>", line 1, in <module>
ImportError: /home/user/miniconda3/envs/pinocchio/lib/python3.7/site-packages/qpoases.cpython-37m-x86_64-linux-gnu.so: undefined symbol: _ZN7qpOASES8QProblem4initEPKdS2_S2_S2_S2_S2_S2_RlPdS2_S2_PKNS_6BoundsEPKNS_11ConstraintsES2_

Based on this issue, I assume that it is related with the version of cython. However, the proposed fix did not make any difference for me.

[fennel-labs]

@jcarpent Could you please share the output of conda list on your machine with me? Hopefully, I will be able to create an environment file then.