Build failure due to Pinocchio version/API mismatch

[dmarew]

Hi, I’m trying to compile the simulator but am running into several Pinocchio-related errors. In particular:

Missing header file

The file fwd.h references:

#include <pinocchio/utils/reference.hpp>

but that header doesn’t appear to exist in the public Pinocchio releases.

Template instantiation errors

Some of the template instantiations for the aba and computeABADerivatives do not match Pinocchio’s current API signatures, leading to compilation failures.

Recommended Pinocchio version

Which version of Pinocchio should I be using?