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krishauser / Klampt

Kris' Locomotion and Manipulation Planning Toolkit
BSD 3-Clause "New" or "Revised" License
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IsaacGym Interoperability #172

Open patricknaughton01 opened 1 year ago

patricknaughton01 commented 1 year ago

Klampt and IsaacGym run into some problems when using them both in the same script. Running Ubuntu 20.04 and Python 3.8.10 (IsaacGym installed in Documents directory), I get the following output:

>>> import klampt
>>> import isaacgym
*** Warning: failed to preload USD libs
Importing module 'gym_38' (Documents/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
[Error] [carb] [Plugin: libcarb.gym.plugin.so] Could not load the dynamic library from Documents/isaacgym/python/isaacgym/_bindings/linux-x86_64/libcarb.gym.plugin.so. Error: libmem_filesys.so: cannot open shared object file: No such file or directory
[Warning] [carb] Potential plugin preload failed: Documents/isaacgym/python/isaacgym/_bindings/linux-x86_64/libcarb.gym.plugin.so
Setting GYM_USD_PLUG_INFO_PATH to Documents/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json

and

>>> import isaacgym
Importing module 'gym_38' (Documents/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Setting GYM_USD_PLUG_INFO_PATH to Documents/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
>>> import klampt
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File ".venvs/uc_venv/lib/python3.8/site-packages/klampt/__init__.py", line 9, in <module>
    from .robotsim import *
  File ".venvs/uc_venv/lib/python3.8/site-packages/klampt/robotsim.py", line 18, in <module>
    from . import _robotsim
ImportError: .venvs/uc_venv/lib/python3.8/site-packages/klampt/_robotsim.cpython-38-x86_64-linux-gnu.so: undefined symbol: _ZNK2tf11Transformer15lookupTransformERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES8_RKN3ros4TimeERNS_16StampedTransformE
krishauser commented 1 year ago

Did you compile Klampt from source? Looks like you have ROS installed and it’s looking for a ROS shared object, but something is causing Klampt not to find it. You could try setting HAVE_ROS=0 in the cmake definitions when compiling Klampt and then rebuild the python bindings cleanly. (I have no idea about the first error, though).

patricknaughton01 commented 1 year ago

Interesting, removing the ROS linking seems to have fixed both problems. Not sure as to the deeper cause, but should work for what we need out of IsaacGym. Should I document this somewhere or is it enough of an edge case to just leave here?