[Bug Report] Upgrade from IsaacSim 4.2 to IsaacSim 4.5 + isaacLab, old scirpt with pinocchio has libhpp-fcl.so: undefined symbol

[cidxb]

Problem:
I have a script that includes using pinoccio==2.7.0 to do inverse kinematics.
Now I am testing to migrate it to isaacsim==4.5+Isaaclab 2.0. But it reported back

Traceback (most recent call last):
  File "/home/xxx/workspace/px_LearningSim_Janus/example/IsaacSim_run_ik_interactivescene_tora.py", line 68, in <module>
    from px_janus_learnsim.robot.controllers.pinocchio_test import Px_kinematics
  File "/home/xxx/workspace/px_LearningSim_Janus/src/px_janus_learnsim/robot/controllers/pinocchio_test.py", line 9, in <module>
    import pinocchio as pin
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/cmeel.prefix/lib/python3.10/site-packages/pinocchio/__init__.py", line 18, in <module>
    from .pinocchio_pywrap import *
ImportError: /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/cmeel.prefix/lib/python3.10/site-packages/pinocchio/../../../../lib/libhpp-fcl.so: undefined symbol: _ZNK6Assimp8IOSystem16CurrentDirectoryB5cxx11Ev

Normally we should go after to check the library itself. But after testing the same version library works well in Isaac sim 4.2. with the old script.

So that's why I raise this in the community.
If anyone knows how to duel with it, much grateful.
Thanx

System : Ubuntu 22.04

[cidxb]

I have checked #271 seems to be the same problem but no solution

[cidxb]

Well, I found a solution :
change the import order; I have encountered similar issues before, while the import order is heavily important for the normal running of the script.

Still it reported back problem , but now the script is running:

2025-02-25 09:59:22 [2,823ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module isaacsim.robot_motion.lula. Error: /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs. Traceback:
Traceback (most recent call last):
  File "/home/xx/anaconda3/envs/test/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 883, in exec_module
  File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.lula/isaacsim/robot_motion/lula/__init__.py", line 10, in <module>
    from .extension import *
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.lula/isaacsim/robot_motion/lula/extension.py", line 24, in <module>
    from lula import LogLevel, set_default_logger_prefix, set_log_level
ImportError: /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs

2025-02-25 09:59:22 [2,823ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'isaacsim.robot_motion.lula' in '/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.lula' failed to load.

At:
  /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(213): startup
  /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
  /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): __init__
  /home/xxx/workspace/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(638): _create_app
  /home/xxx/workspace/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(114): __init__
  /home/xxx/workspace/px_LearningSim_Janus/example/IsaacSim_run_ik_interactivescene_tora.py(41): <module>

2025-02-25 09:59:22 [2,823ms] [Error] [omni.ext.plugin] [ext: isaacsim.robot_motion.lula-4.0.4] Failed to startup python extension.
[3.117s] [ext: omni.usd.metrics.assembler.ui-106.5.0] startup
[3.120s] [ext: isaacsim.asset.browser-1.3.4] startup
[3.163s] [ext: isaacsim.gui.menu-2.0.9] startup
2025-02-25 09:59:22 [3,149ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
[3.167s] [ext: omni.kit.ui.actions-1.0.2] startup
[3.170s] [ext: omni.kit.window.console-0.2.14] startup
[3.178s] [ext: isaacsim.robot_motion.motion_generation-8.0.6] startup
2025-02-25 09:59:22 [3,168ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module isaacsim.robot_motion.motion_generation. Error: /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs. Traceback:
Traceback (most recent call last):
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 883, in exec_module
  File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.motion_generation/isaacsim/robot_motion/motion_generation/__init__.py", line 15, in <module>
    from isaacsim.robot_motion.motion_generation.lula.kinematics import LulaKinematicsSolver
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.motion_generation/isaacsim/robot_motion/motion_generation/lula/__init__.py", line 9, in <module>
    from .kinematics import LulaKinematicsSolver
  File "/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.motion_generation/isaacsim/robot_motion/motion_generation/lula/kinematics.py", line 12, in <module>
    import lula
ImportError: /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs

2025-02-25 09:59:22 [3,168ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'isaacsim.robot_motion.motion_generation' in '/home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.motion_generation' failed to load.

At:
  /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(213): startup
  /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
  /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): __init__
  /home/xxx/workspace/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(638): _create_app
  /home/xxx/workspace/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(114): __init__
  /home/xxx/workspace/px_LearningSim_Janus/example/IsaacSim_run_ik_interactivescene_tora.py(41): <module>

2025-02-25 09:59:22 [3,168ms] [Error] [omni.ext.plugin] [ext: isaacsim.robot_motion.motion_generation-8.0.6] Failed to startup python extension.
[3.328s] [ext: isaaclab-0.34.1] startup
2025-02-25 09:59:22 [3,319ms] [Error] [omni.graph.core._impl.extension] OGN node registration completed with errors: /home/xxx/anaconda3/envs/test/lib/python3.10/site-packages/isaacsim/exts/isaacsim.robot_motion.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs

[kellyguo11]

We've been looking into using pinocchio internally as well and found that using a conda environment with pinocchio installed through conda helps with the compatibility issues. This could be a workaround while we work on solving this in kit