Undefined symbol: _ZN11btMultiBody22addJointTorqueMultiDofEiPKF

[WatsonZhouAnda]

After installing all the required dependencies and modify the Makefile in DeepMimicCore/, I try to run the python DeepMimic.py --arg_file args/run_humanoid3d_spinkick_args.txt in Ubuntu 16.04. However, I got the ImportError: /home/watson/Downloads/DeepMimic/DeepMimiCore/_DeepMimicCore.so: undefined symbol: _ZN11btMultiBody22addJointTorqueMultiDofEiPKF

I have successfully added the dll of libGLEW.so.2.1, libGLEW.so.2.1.0, libGLEW.so from /usr/lib64 to /usr/lib, and built the wrapper as far as I know.

[WatsonZhouAnda]

@xbpeng
Is there anything advice for me? Thanks!

[vkozin97]

I've also had an error with not finding libGLEW.so.2.1 which was solved by adding the path "/usr/lib64" to the "/etc/ld.so.conf.d/libc.conf" file. After that fix I'm now facing the same issue:

ImportError: /localDeepMimic/DeepMimic-master/DeepMimicCore/_DeepMimicCore.so: undefined symbol: _ZN11btMultiBody22addJointTorqueMultiDofEiPKf

@WatsonZhouAnda , haven't you found a solution yet?

[xbpeng]

That looks like it might be an issue with linking the bullet library. Maybe there's something wrong with the path to the lib?

[zhihaocheng]

That looks like it might be an issue with linking the bullet library. Maybe there's something wrong with the path to the lib?

Hello, xbpeng. I meet the same problem. And I am sure the bullet library path is right. Whether the bullet should be 2.87 version?

[vkozin97]

That looks like it might be an issue with linking the bullet library. Maybe there's something wrong with the path to the lib?

@xbpeng Which directory of already built bullet lib should be specified in DeepMimicCore's Makefile? I've specified this path: BULLET_INC_DIR = ../../bullet3-2.88/src. Isn't this path correct? Should I maybe use another directory inside bullet?

[WatsonZhouAnda]

@vkozin97 I tried again but not yet.

[avi-grtl]

I would say check your nVidia drivers, I was having the same error and installing/using nVidia drivers >390.x helped. I also made sure to build bullet2.88 with the -DUSE_DOUBLE_PERCISION=OFF flag. I then put the bullet dir as /usr/local/include/

I will double check that later. but give it a go.

[asawaswapnil]

Hi, My Nvidia Driver is 418.87.00. and I used bullet 2.88 with DUSE_DOUBLE_PERCISION=OFF flag. It is still showing the error:

---

[[47331,1],0]: A high-performance Open MPI point-to-point messaging module
was unable to find any relevant network interfaces:

Module: OpenFabrics (openib)
Host: ip-172-31-42-21

Another transport will be used instead, although this may result in
lower performance.

---

Traceback (most recent call last):
File "/home/ubuntu/dg/DeepMimic/DeepMimicCore/DeepMimicCore.py", line 14, in swig_import_helper
return importlib.import_module(mname)
File "/usr/lib/python3.5/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "", line 986, in _gcd_import
File "", line 969, in _find_and_load
File "", line 958, in _find_and_load_unlocked
File "", line 666, in _load_unlocked
File "", line 577, in module_from_spec
File "", line 906, in create_module
File "", line 222, in _call_with_frames_removed
ImportError: /home/ubuntu/dg/DeepMimic/DeepMimicCore/_DeepMimicCore.so: undefined symbol: _ZN11btMultiBody22addJointTorqueMultiDofEiPKf

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "DeepMimic.py", line 9, in
from env.deepmimic_env import DeepMimicEnv
File "/home/ubuntu/dg/DeepMimic/env/deepmimic_env.py", line 3, in
from DeepMimicCore import DeepMimicCore
File "/home/ubuntu/dg/DeepMimic/DeepMimicCore/DeepMimicCore.py", line 17, in
_DeepMimicCore = swig_import_helper()
File "/home/ubuntu/dg/DeepMimic/DeepMimicCore/DeepMimicCore.py", line 16, in swig_import_helper
return importlib.import_module('_DeepMimicCore')
File "/usr/lib/python3.5/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
ImportError: No module named '_DeepMimicCore'

[asawaswapnil]

solved by

wget https://github.com/bulletphysics/bullet3/archive/2.88.tar.gz
mv 2.88.tar.gz bullet3-2.88.tar.gz

tar xvzf bullet3-2.88.tar.gz

cd bullet3-2.88

sed -i 's/-DUSE_DOUBLE_PRECISION=ON/-DUSE_DOUBLE_PRECISION=OFF/g'

build_cmake_pybullet_double.sh

./build_cmake_pybullet_double.sh

cd build_cmake

make install

cd ../..

[WatsonZhouAnda]

@asawaswapnil
Yeah, It's right
Before building the Bullet(No matter the version is 2.88 or 2.87) by "./build_cmake_pybullet_double.sh" in terminal, you have to CHANGE the "DUSE_DOUBLE_PRECISION" in build_cmake_pybullet_double.sh from "ON" to "OFF"