Acados example 'example_p_global' fail to run

tkoepff · January 9, 2026, 12:26pm

Hi together,

First of all thanks for the amazing optimization framework!

I am currently implementing an ocp problem including p_globals. While doing so, I run into an ValueError, so I tried to run the example ‘example_p_global.py’ from the official repo to exclude any mistake from my code. This results in the same error.

As the p_global feature is only compatible with casadi 3.7.2. I upgraded casadi to the specific version number. Unfortnunately, the error persists. Now, I do not know if the error is due to some old casadi versions lying around (although i couldnt find any) or this is indeed a bug.

When building casadi from source, do I need to set specific build arguments?

Thanks a lot for your help in advance.

The error output is as follows:

Running example with lut=True, use_p_global=True, blazing=False
Creating ocp solver with p_global = vertcat(m, l, C), p = g
Traceback (most recent call last):
File “/home/dill/ws/external/acados/examples/acados_python/p_global_example/example_p_global.py”, line 329, in
res_lut_no_blazing, t_lin_lut_no_blazing = main(use_cython=False, use_p_global=True, lut=True, blazing=False)
File “/home/dill/ws/external/acados/examples/acados_python/p_global_example/example_p_global.py”, line 237, in main
ocp_solver = AcadosOcpSolver(ocp, json_file = solver_json, generate=True, build=True)
File “/home/dill/ws/external/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py”, line 239, in init
self.generate(acados_ocp, json_file=acados_ocp.json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder, verbose=verbose)
File “/home/dill/ws/external/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py”, line 138, in generate
acados_ocp.generate_external_functions()
File “/home/dill/ws/external/acados/interfaces/acados_template/acados_template/acados_ocp.py”, line 1518, in generate_external_functions
context.finalize()
File “/home/dill/ws/external/acados/interfaces/acados_template/acados_template/casadi_function_generation.py”, line 198, in finalize
self.__setup_p_global_precompute_fun()
File “/home/dill/ws/external/acados/interfaces/acados_template/acados_template/casadi_function_generation.py”, line 147, in __setup_p_global_precompute_fun
[outputs_ret, symbols, param_expr] = ca.extract_parametric(outputs, self.p_global, {‘extract_trivial’: True})
ValueError: too many values to unpack (expected 3)

FreyJo · January 9, 2026, 12:49pm

Hi,

can you verify your casadi version by running:

from casadi import CasadiMeta
casadi_version = CasadiMeta.version()
print(casadi_version)

franek_s · January 9, 2026, 2:13pm

Hi @FreyJo,
I yesterday also encountered this issue, with the latest acados commit and casadi 3.7.2

Cheers,
Franek

FreyJo · January 9, 2026, 2:44pm

I was not able to reproduce the issue.
The example works for me with casadi 3.7.0 and 3.7.2.
Also looking at the CasADi Python API, extract_parametric has 3 output arguments.
I am on Ubuntu 22.04, Python 3.10.
The example is also tested on Github actions.

To just test the casadi functionality, you can maybe run:

import casadi as ca
casadi_version = ca.CasadiMeta.version()
print(casadi_version)


x = ca.SX.sym('x')
y = ca.SX.sym('y')

f = x**2 + y**2

[out_1, out_2, out_3] = ca.extract_parametric(f, y)

print("out_1:", out_1)
print("out_2:", out_2)
print("out_3:", out_3)

I get:

3.7.2
out_1: (sq(x)+e_0)
out_2: [SX(e_0)]
out_3: [SX(sq(y))]

franek_s · January 9, 2026, 3:34pm

I tested it in a fresh Docker image from ubuntu:24.04 with python 3.12.3 and casadi build from source.

Your example works:

Python 3.12.3 (main, Nov  6 2025, 13:44:16) [GCC 13.3.0] on linux

Type "help", "copyright", "credits" or "license" for more information.
>>> import casadi as ca
>>> casadi_version = ca.CasadiMeta.version()
>>> print(casadi_version)

3.7.2
>>> 
>>> 
>>> x = ca.SX.sym('x')
>>> y = ca.SX.sym('y')
>>> 
>>> f = x**2 + y**2
>>> 
>>> [out_1, out_2, out_3] = ca.extract_parametric(f, y)
>>> 
>>> print("out_1:", out_1)

out_1: (sq(x)+e_0)
>>> print("out_2:", out_2)

out_2: [SX(e_0)]
>>> print("out_3:", out_3)

out_3: [SX(sq(y))]
>>>

But the example example_p_global.py fails:

Running example with lut=True, use_p_global=True, blazing=False
Creating ocp solver with p_global = vertcat(m, l, C), p = g
Traceback (most recent call last):
  File "/usr/local/src/acados/examples/acados_python/p_global_example/example_p_global.py", line 329, in <module>
    res_lut_no_blazing, t_lin_lut_no_blazing = main(use_cython=False, use_p_global=True, lut=True, blazing=False)
                                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/src/acados/examples/acados_python/p_global_example/example_p_global.py", line 237, in main
    ocp_solver = AcadosOcpSolver(ocp, json_file = solver_json, generate=True, build=True)
                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py", line 258, in __init__
    self.generate(acados_ocp, json_file=acados_ocp.json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder, verbose=verbose)
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py", line 157, in generate
    acados_ocp.generate_external_functions()
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/acados_ocp.py", line 1527, in generate_external_functions
    context.finalize()
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/casadi_function_generation.py", line 199, in finalize
    self.__setup_p_global_precompute_fun()
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/casadi_function_generation.py", line 148, in __setup_p_global_precompute_fun
    [outputs_ret, symbols, param_expr] = ca.extract_parametric(outputs, self.p_global, {'extract_trivial': True})
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ValueError: too many values to unpack (expected 3)

Edit:
I just attached a debugger. The failing call of ca.extrac_parameteric() in line 148 of casadi_function_generation.py, returns a list of length 5.
It happens for the loop counter i=1, which means the call before worked.
If you want I can also tell you the exact values of the function parameters outputs and self.p_global.
I agree that the documentation clearly states that the function should return 3 elements, I am therefore verifying now If this is indeed not a hidden casadi version clash somewhere.

tkoepff · January 9, 2026, 3:39pm

Hi FreyJo,

Thank you for the fast reply.
The code outputs version 3.7.2 for me.

On a freshly installed system, I can indeed run the ‘example_p_global.py’ script successfully.

However my custom script which imports ‘pinocchio.casadi’ now fails with an import error and some linker related issue:
ImportError: /home/dill/.local/lib/python3.10/site-packages/pinocchio/pinocchio_pywrap_casadi.cpython-310-x86_64-linux-gnu.so: undefined symbol: _ZN6casadi6MatrixINS_6SXElemEE9type_nameB5cxx11Ev

Also I noticed I have two different casadi versions lying around (after a preceeding cleanup beforehand) namely at the locations:

/home/dill/.local/lib/libcasadi.so.3.7/
/home/dill/.local/lib/python3.10/site-packages/casadi/libcasadi.so.3.7
Those libraries seem not to coincide.

I installed

casadi
acados
pinocchio (with casadi)
from source.

To conclude, I think the issue is not related to acados directly, but rather some issue related to casadi and/or pinocchio.

Although, this issue is most probably miss-located here, I am happy for any hints.
In the meanwhile I am trying to track down the issue on my own.
I ll update the issue if I find a solution as other acados user may run into this problem as well.

Best regards

tkoepff · January 9, 2026, 3:43pm

Interesting to hear that you are running into the same problem. Still wierd that the issue is gone for me after reinstallation of casadi and acados.
I am running on Ubuntu 20.04 and python 3.10.

I am also building casadi from source. Do you have pinocchio installation files lying around?

franek_s · January 9, 2026, 3:51pm

I install pinocchio from source in version v3.8.0. - You have to be carefull as (I believe) acados is installing its own casadi version which missmatches with the one which pinocchio is using.

tkoepff · January 9, 2026, 4:04pm

Yes, you are right. I just noticed that installing the python interface for acados (acados_template) will trigger a casadi install via pip. I have overlooked the print message before.
That is why i have two different casadi libraries lying around.

After deleting the pip casadi library and using the source install of casadi, I am back with the same error message again: “Too many values to unpack”.
Sorry for the confusion beforehand.

FreyJo · January 9, 2026, 8:59pm

Thanks for checking Franek!

So the issue seems to be in a specific casadi version that you are building from source.
Which version are you using.
To clarify: This does not happen with an official casadi release, but with some other version?
Which casadi version are you using?

Maybe you can run with a debug print like here: Comparing acados:main...FreyJo:debug_casadi_extract · acados/acados · GitHub

tkoepff · January 10, 2026, 4:50pm

Hi FreyJo,

I am using a source build with casadi version 3.7.2.

Specifically, the code

import casadi as ca

print(ca.CasadiMeta.version())
print(ca.CasadiMeta.build_type())
print(ca.CasadiMeta.git_revision())
print(ca.CasadiMeta.compiler())
print(ca.CasadiMeta.compiler_flags())
print(ca.CasadiMeta.install_prefix())

outputs the following for my source build

3.7.2
Release
0e672301aa9046162d311f69421f6375805f4fca
g++
 -fPIC    -DUSE_CXX11 -DHAVE_MKSTEMPS -DWITH_DEEPBIND -DCASADI_MAJOR_VERSION=3 -DCASADI_MINOR_VERSION=7 -DCASADI_PATCH_VERSION=2 -DCASADI_IS_RELEASE=1 -DCASADI_VERSION=31 -D_USE_MATH_DEFINES -D_SCL_SECURE_NO_WARNINGS -DWITH_DL -DWITH_DEPRECATED_FEATURES -DCASADI_DEFAULT_COMPILER_PLUGIN=shell -DCASADI_SNPRINTF=snprintf

Running the example with your acados fork, returns

Error during extract_parametric for function pendulum_blazing_False_p_global_True_expl_vde_forw
too many values to unpack (expected 3)
Traceback (most recent call last):
  File "/home/dill/ws/external/acados/examples/acados_python/p_global_example/example_p_global.py", line 329, in <module>
    res_lut_no_blazing, t_lin_lut_no_blazing = main(use_cython=False, use_p_global=True, lut=True, blazing=False)
  File "/home/dill/ws/external/acados/examples/acados_python/p_global_example/example_p_global.py", line 237, in main
    ocp_solver = AcadosOcpSolver(ocp, json_file = solver_json, generate=True, build=True)
  File "/home/dill/ws/external/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py", line 239, in __init__
    self.generate(acados_ocp, json_file=acados_ocp.json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder, verbose=verbose)
  File "/home/dill/ws/external/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py", line 138, in generate
    acados_ocp.generate_external_functions()
  File "/home/dill/ws/external/acados/interfaces/acados_template/acados_template/acados_ocp.py", line 1518, in generate_external_functions
    context.finalize()
  File "/home/dill/ws/external/acados/interfaces/acados_template/acados_template/casadi_function_generation.py", line 201, in finalize
    self.__setup_p_global_precompute_fun()
  File "/home/dill/ws/external/acados/interfaces/acados_template/acados_template/casadi_function_generation.py", line 159, in __setup_p_global_precompute_fun
    outputs_ret = [ca.substitute(output, sym_new, sym) for output in outputs_ret]
  File "/home/dill/.local/lib/python3.10/site-packages/casadi/casadi.py", line 7720, in __iter__
    raise Exception("""CasADi matrices are not iterable by design.
Exception: CasADi matrices are not iterable by design.
                      Did you mean to iterate over m.nz, with m IM/DM/SX?
                      Did you mean to iterate over horzsplit(m,1)/vertsplit(m,1) with m IM/DM/SX/MX?

trying to match the build flags from pip package with my source installation

3.7.2
Release
0e672301aa9046162d311f69421f6375805f4fca
g++
 -pthread -fPIC    -DUSE_CXX11 -DHAVE_MKSTEMPS -DWITH_DEEPBIND -DCASADI_MAJOR_VERSION=3 -DCASADI_MINOR_VERSION=7 -DCASADI_PATCH_VERSION=2 -DCASADI_IS_RELEASE=1 -DCASADI_VERSION=31 -D_USE_MATH_DEFINES -D_SCL_SECURE_NO_WARNINGS -DWITH_DL -DWITH_DEPRECATED_FEATURES -DCASADI_DEFAULT_COMPILER_PLUGIN=shell -DCASADI_SNPRINTF=snprintf -DCASADI_WITH_THREADSAFE_SYMBOLICS -DCASADI_WITH_THREAD

returns in the same error.

franek_s · January 12, 2026, 8:45am

I am building casadi 3.7.2 from source, which I directly clone from github:

But as far as I understand, 3.7.2 is the latest official casadi realease.

With your debug print the output is:

Error during extract_parametric for function pendulum_blazing_False_p_global_True_expl_vde_forw
too many values to unpack (expected 3)
Traceback (most recent call last):
  File "/usr/local/src/acados/examples/acados_python/p_global_example/example_p_global.py", line 329, in <module>
    res_lut_no_blazing, t_lin_lut_no_blazing = main(use_cython=False, use_p_global=True, lut=True, blazing=False)
                                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/src/acados/examples/acados_python/p_global_example/example_p_global.py", line 237, in main
    ocp_solver = AcadosOcpSolver(ocp, json_file = solver_json, generate=True, build=True)
                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py", line 258, in __init__
    self.generate(acados_ocp, json_file=acados_ocp.json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder, verbose=verbose)
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py", line 157, in generate
    acados_ocp.generate_external_functions()
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/acados_ocp.py", line 1527, in generate_external_functions
    context.finalize()
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/casadi_function_generation.py", line 205, in finalize
    self.__setup_p_global_precompute_fun()
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/casadi_function_generation.py", line 154, in __setup_p_global_precompute_fun
    raise e
  File "/usr/local/src/acados/interfaces/acados_template/acados_template/casadi_function_generation.py", line 150, in __setup_p_global_precompute_fun
    [outputs_ret, symbols, param_expr] = ca.extract_parametric(outputs, self.p_global, {'extract_trivial': True})
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ValueError: too many values to unpack (expected 3)

Edit:

The actual parameters are:
outputs = [MX(@1=cos(theta), @2=sin(theta), @3=(m*l), @4=sq(dtheta), @5=(1+m), @6=(@5-(m*sq(@1))), @7=((((F*@1)-(((@3*@1)*@2)*@4))+((@5*g)*@2))/(l*@6)), @8=0.5, (vertcat(v1, dtheta, ((((((m*g)*@1)*@2)-((@3*@2)*@4))+F)/@6), @7)[3] = (@7+(0.01*BSplineParametric(vertcat((@8+(F/100)), (@8+(theta/3.14159))), C)))))]

self.p_global = vertcat(m, l, C)

FreyJo · January 12, 2026, 9:15am

Hi,

Now it seems to me that the issue is only in self-compiled casadi.
I installed casadi 3.7.2 via pip and it worked.
It seems to be the same for @tkoepff looking at this:

Can you confirm this?

I am a bit surprised this happens for both of you in a short time, because casadi 3.7.2 was released in September 2025.
I have no easy way for reproducing it.
It would be useful to try rolling back acados releases or try casadi 3.7.1.

Best,
Jonathan

FreyJo · January 12, 2026, 10:07am

To report this to the casadi devs, it would be helpful to serialize the symbolics corresponding to the failing function definition, as in my latest commit here: Comparing acados:main...FreyJo:debug_casadi_extract · acados/acados · GitHub

For me, I don’t get an error, but the corresponding output should be something like this:

serializing function pendulum_blazing_False_p_global_True_expl_vde_forw for debugging:
Serialized inputs and outputs for debugging:
jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaebeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaaaaaaaaaegfaaaaaaaaaaaaaaabaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaacaaaaaaaihbdegpcaaaaaaaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaafaaaaaaaehigfgehbgegpcaaaaaaaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaacaaaaaaaghbdegpcaaaaaaaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaagaaaaaaaegehigfgehbgegndaaaaaaeaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaachdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaebbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaaaaaaaaaeghbaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaiaaaaaaaaaaaaaaamaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaacaaaaaaadfihchiaaaaaaaaaaaaaaaebbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaaaaaaaaachfaaaaaaaaaaaaaaacaaaaaaadffhchjaaaaaaaaaaaaaaaebbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaagechkaaaaaaaaaaaaaaaebbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaahgchlaaaaaaaaaaaaaaaebbdaaaaaaaaaaaaaachdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaangchlaaaaaaaaaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachmaaaaaaaaaaaaaaachlaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaachcaaaaaaaaaaaaaaaegoaaaaaaabaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaoaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachnaaaaaaaaaaaaaaachoaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegnaaaaaaabaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaanaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachpaaaaaaaaaaaaaaachabaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegpcaaaaaaaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaamgegdaaaaaaabacaaaaaaaaaaaaaaachmaaaaaaaaaaaaaaachcbaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachdbaaaaaaaaaaaaaachabaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaeglaaaaaaabaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaalaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachebaaaaaaaaaaaaaachfbaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegcaaaaaaabacaaaaaaaaaaaaaaachbbaaaaaaaaaaaaaachgbaaaaaaaaaaaaaachaaaaaaaaaaaaaaaacaaaaaaachkaaaaaaaaaaaaaaaegbaaaaaaabacaaaaaaaaaaaaaaachhbaaaaaaaaaaaaaachkaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaaegmcaaaaaabdaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaegbaaaaaaaaacaaaaaaaaaaaaaaachjbaaaaaaaaaaaaaachmaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaaeglaaaaaaabaaaaaaaaaaaaaaachoaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaalaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachmaaaaaaaaaaaaaaachlbaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegcaaaaaaabacaaaaaaaaaaaaaaachkbaaaaaaaaaaaaaachmbaaaaaaaaaaaaaachaaaaaaaaaaaaaaaacaaaaaaaegeaaaaaaabacaaaaaaaaaaaaaaachibaaaaaaaaaaaaaachnbaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaeaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachkaaaaaaaaaaaaaaachoaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachdbaaaaaaaaaaaaaachoaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachacaaaaaaaaaaaaaachabaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachbcaaaaaaaaaaaaaachfbaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegcaaaaaaabacaaaaaaaaaaaaaaachpbaaaaaaaaaaaaaachccaaaaaaaaaaaaaachaaaaaaaaaaaaaaaacaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachkbaaaaaaaaaaaaaachlaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachecaaaaaaaaaaaaaachabaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegbaaaaaaabacaaaaaaaaaaaaaaachdcaaaaaaaaaaaaaachfcaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaaegdaaaaaaabacaaaaaaaaaaaaaaachcbaaaaaaaaaaaaaachnbaaaaaaaaaaaaaachaaaaaaaaaaaaaaaadaaaaaaaegeaaaaaaabacaaaaaaaaaaaaaaachgcaaaaaaaaaaaaaachhcaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaeaaaaaaaegndaaaaaaeaaaaaaaaaaaaaaachdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaachobaaaaaaaaaaaaaachicaaaaaaaaaaaaaachfaaaaaaaaaaaaaaaegmcaaaaaaeelhebokhebokheipdaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaegmcaaaaaaeeaaaaaaaaaaaaaopdaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaegmcaaaaaajeegaaaaaaaaaaaaaaaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaegeaaaaaaabacaaaaaaaaaaaaaaachkaaaaaaaaaaaaaaachmcaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaeaaaaaaaegbaaaaaaaaacaaaaaaaaaaaaaaachlcaaaaaaaaaaaaaachncaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaaegmcaaaaaaeeibnceeeflpbcjaaeaaaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaegeaaaaaaabacaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaachpcaaaaaaaaaaaaaachaaaaaaaaaaaaaaaaeaaaaaaaegbaaaaaaaaacaaaaaaaaaaaaaaachlcaaaaaaaaaaaaaachadaaaaaaaaaaaaaachaaaaaaaaaaaaaaaabaaaaaaaegndaaaaaacaaaaaaaaaaaaaaachocaaaaaaaaaaaaaachbdaaaaaaaaaaaaaaeggaaaaaaaaaaaaaaacaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaacaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaaaaaaaaaegeabaaaaaaaaaaaaaaabaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaagaaaaaaaaaaaaaaahaaaaaaaaaaa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Expression names:
['input_0', 'input_1', 'input_2', 'input_3', 'input_4', 'output_0', 'output_1', 'output_2', 'p_global']

franek_s · January 12, 2026, 10:12am

Indeed I can confirm that when installing casadi 3.7.2 via pip it works.

The serialized output is:

Error during extract_parametric for function pendulum_blazing_False_p_global_True_expl_vde_forw
too many values to unpack (expected 3)
Serialized inputs and outputs for debugging:
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Expression names:
['input_0', 'input_1', 'input_2', 'input_3', 'input_4', 'output_0', 'output_1', 'output_2', 'p_global']

FreyJo · January 12, 2026, 10:27am

Thanks Franek!

Could you verify that this minimal example fails? extract_parametric_issue.py · GitHub

If so, I will send that to the casadi devs.

franek_s · January 12, 2026, 10:38am

Yes I can confirm that this fails.
Thanks for your help!

To add some information, this is the build command which I use for casadi:

mkdir -p build && cd build && \
    cmake .. \
      -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DWITH_PYTHON=ON -DWITH_PYTHON3=ON \
      -DWITH_BUILD_METIS=ON \
      -DWITH_BUILD_MUMPS=ON \
      -DWITH_BUILD_IPOPT=ON \
      -DWITH_IPOPT=ON  \
      -DPYTHON_EXECUTABLE=${VIRTUAL_ENV}/bin/python && \
    cmake --build .

Feel free to tag me in the issue, so I can provide more details if needed.

FreyJo · January 12, 2026, 11:10am

Casadi issue is opened here: `extract_parametric` returns 5 instead of 3 outputs · Issue #4275 · casadi/casadi · GitHub

FreyJo · January 13, 2026, 2:11pm

Joris answered on the Github issue: `extract_parametric` returns 5 instead of 3 outputs · Issue #4275 · casadi/casadi · GitHub
Compiling CasADi with default Swig seems to be broken unfortunately.

franek_s · January 13, 2026, 6:16pm

I just tested the 2cnd option they mentioned (using the source zip from https://github.com/casadi/casadi/releases/download/3.7.2/casadi-source-v3.7.2.zip).
And indeed, this fixes the problem. So as long as the issue in Swig is not fixed, users of acados (if they need to compile casadi from source, which is probably very rare) should use the source zip.

@tkoepff the casadi authors mentioned that we could also try their binaries. Do you know if pinocchio with casadi will work in that case?

Anyways, thanks for your quick help, Jonathan! - Now I can use p_global again