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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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Set config.h OPENRAVE_PYTHON_EXECUTABLE #1368

Closed cielavenir closed 2 months ago

cielavenir commented 3 months ago

LiBoon's change deleted PYTHON_EXECUTABLE variable, that was fine itself. But it turned out that it broke OPENRAVE_PYTHON_EXECUTABLE config.h, and plugins/ikfastsolvers/ikfastmodule.cpp stopped working.

I guess we have tested AddIkLibrary codepath repeatedly but not LoadIKFastSolver codepath.

2024-03-22 17:35:37,215 openrave [INFO] [ikfastmodule.cpp:682 _EnsureIkFastVersion] Getting ikfast version from existing python. OPENRAVE_PYTHON_EXECUTABLE=
sh: 1: -c: not found
2024-03-22 16:07:15,416 openrave [WARN] [ikfastmodule.cpp:616 LoadIKFastSolver] failed to find ikfile: kinematics.331f3d8a4304006d695f6f3cd9b319f1/ikfast.Transform6D..0_1_2_3_4_5.so
2024-03-22 16:07:15,416 openrave [ERROR] [binpickingmodule_compute.cpp:4420 binpickingmodule::BinPickingModule::_MoveManipJoints] env=6(pw_plan2), planrequest 1: failed to init plan because of openrave (Assert): [redacted] env=6(pw_plan2), failed to load 6D ik solver from 'ikfast' for manip '[redacted]_gripper_suction'

Reported by @DanyuanZhuo

/cc @ntohge

rdiankov commented 3 months ago

once we move to python3, will this need to change?

cielavenir commented 3 months ago

yes...

@DanyuanZhuo @osbertngok @liuhuanjim013 How do you think?

cielavenir commented 3 months ago

@rdiankov actually I changed to configure by CMakeLists. Now we dont need to change that part after moving to py3.

osbertngok commented 2 months ago

@cielavenir the new change looks reasonable to me; it would cater both Python2 and Python3. I assume we won't be dropping support for Python2 any time soon..

cielavenir commented 2 months ago

yes, lets merge

rdiankov commented 2 months ago

thanks