ompl.util._util error

[qiaojunyu]

hi, great work
python execute.py --task_config_path example_tasks/Change_Lamp_Direction/Change_Lamp_Direction_The_robotic_arm_will_alter_the_lamps_light_direction_by_manipulating_the_lamps_head.yaml

grasp the lamps head primitive
Traceback (most recent call last):
File "/ssd/code/RoboGen/pybullet_ompl/pb_ompl.py", line 2, in
from ompl import base as ob
File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/base/init.py", line 1, in
from ompl import util
File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/util/init.py", line 4, in
from ompl.util._util import *
ModuleNotFoundError: No module named 'ompl.util._util'

ubuntu 20.04

[yufeiwang63]

That means ompl is not correctly installed. Could you please take a look at ompl/ompl#609.
We will also provide a docker with ompl installed.

[Radiance-nt]

OMPL py-bindings installation errors. You must have _utils.so and other libs generated under build/Release/lib, you can refer to ompl.

[GreenAvocado92]

hi, great work python execute.py --task_config_path example_tasks/Change_Lamp_Direction/Change_Lamp_Direction_The_robotic_arm_will_alter_the_lamps_light_direction_by_manipulating_the_lamps_head.yaml

grasp the lamps head primitive Traceback (most recent call last): File "/ssd/code/RoboGen/pybullet_ompl/pb_ompl.py", line 2, in from ompl import base as ob File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/base/init.py", line 1, in from ompl import util File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/util/init.py", line 4, in from ompl.util._util import * ModuleNotFoundError: No module named 'ompl.util._util'

ubuntu 20.04

Hi，
Did you solve this problem？

[Radiance-nt]

hi, great work python execute.py --task_config_path example_tasks/Change_Lamp_Direction/Change_Lamp_Direction_The_robotic_arm_will_alter_the_lamps_light_direction_by_manipulating_the_lamps_head.yaml
grasp the lamps head primitive Traceback (most recent call last): File "/ssd/code/RoboGen/pybullet_ompl/pb_ompl.py", line 2, in from ompl import base as ob File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/base/init.py", line 1, in from ompl import util File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/util/init.py", line 4, in from ompl.util._util import * ModuleNotFoundError: No module named 'ompl.util._util'
ubuntu 20.04

Hi， Did you solve this problem？

I have solved that problem on ubuntu20.04. It was hard. I recommand creating a virtual python env instead of using /usr/bin/python to compile the py-bindings. Install numpy, pygccxml==2.2.1 and pyplusplus in that venv before Cmaking. And then examine if there is any error in making update_bindings. If all succeeds, _utils.so and other libs will be generated under build/Release/lib.

[GreenAvocado92]

hi, great work python execute.py --task_config_path example_tasks/Change_Lamp_Direction/Change_Lamp_Direction_The_robotic_arm_will_alter_the_lamps_light_direction_by_manipulating_the_lamps_head.yaml
grasp the lamps head primitive Traceback (most recent call last): File "/ssd/code/RoboGen/pybullet_ompl/pb_ompl.py", line 2, in from ompl import base as ob File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/base/init.py", line 1, in from ompl import util File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/util/init.py", line 4, in from ompl.util._util import * ModuleNotFoundError: No module named 'ompl.util._util'
ubuntu 20.04

Hi， Did you solve this problem？

I have solved that problem on ubuntu20.04. It was hard. I recommand creating a virtual python env instead of using /usr/bin/python to compile the py-bindings. Install numpy, pygccxml==2.2.1 and pyplusplus in that venv before Cmaking. And then examine if there is any error in making update_bindings. If all succeeds, _utils.so and other libs will be generated under build/Release/lib.

I have installed pygccxml&& pyplusplus, but when I excute install_ompl_ubuntu.sh, report errors as:

-- The following Python modules were NOT found:

• pyplusplus pygccxml

[Radiance-nt]

hi, great work python execute.py --task_config_path example_tasks/Change_Lamp_Direction/Change_Lamp_Direction_The_robotic_arm_will_alter_the_lamps_light_direction_by_manipulating_the_lamps_head.yaml
grasp the lamps head primitive Traceback (most recent call last): File "/ssd/code/RoboGen/pybullet_ompl/pb_ompl.py", line 2, in from ompl import base as ob File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/base/init.py", line 1, in from ompl import util File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/util/init.py", line 4, in from ompl.util._util import * ModuleNotFoundError: No module named 'ompl.util._util'
ubuntu 20.04

Hi， Did you solve this problem？

I have solved that problem on ubuntu20.04. It was hard. I recommand creating a virtual python env instead of using /usr/bin/python to compile the py-bindings. Install numpy, pygccxml==2.2.1 and pyplusplus in that venv before Cmaking. And then examine if there is any error in making update_bindings. If all succeeds, _utils.so and other libs will be generated under build/Release/lib.

I have installed pygccxml&& pyplusplus, but when I excute install_ompl_ubuntu.sh, report errors as:

-- The following Python modules were NOT found:

* pyplusplus pygccxml

Do you have the required python libraries installed correctly in the python environment used by cmake? You can specify the python for cmake with param -DPYTHON_EXECUTABLE <your path to python>
And, by the way, you should better compile OMPL mannually rather than run that script. Try to understand the procedures in install_ompl_ubuntu.sh, it is quite simple. You may need to adjust the cmake configurations.

[koupoo]

hi, great work python execute.py --task_config_path example_tasks/Change_Lamp_Direction/Change_Lamp_Direction_The_robotic_arm_will_alter_the_lamps_light_direction_by_manipulating_the_lamps_head.yaml

grasp the lamps head primitive Traceback (most recent call last): File "/ssd/code/RoboGen/pybullet_ompl/pb_ompl.py", line 2, in from ompl import base as ob File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/base/init.py", line 1, in from ompl import util File "/home/qiaojun/miniconda3/envs/robogen/lib/python3.9/site-packages/ompl/util/init.py", line 4, in from ompl.util._util import * ModuleNotFoundError: No module named 'ompl.util._util'

ubuntu 20.04

Encountered the same problem and took some time to solve it, and found that the version of pypy3 was incorrect , just upgrage pypy3 and compile ompl again:

sudo apt-get remove pypy3
sudo add-apt-repository ppa:pypy/ppa
sudo apt-get install pypy3
sudo apt update sudo apt install pypy3
pypy3 -V
Python 3.9.18 (7.3.13+dfsg-1~ppa1~ubuntu20.04, Oct 17 2023, 11:00:05)
[PyPy 7.3.13 with GCC 9.4.0]

[hilookas]

I solved this problem by using the latest ompl source from github, following this approach:

in install_ompl_1.5.2.sh comment out the last line:
install_ompl -> #install_ompl

Run install_ompl_1.5.2.sh to install apt requirements.

Update my pypy3 install following @koupoo 's guide.

Compile ompl with the guide from Github

git clone https://github.com/ompl/ompl.git

mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine

Don't forget to add py binding path to {your_conda_install}/envs/robogen/lib/python3.9/site-packages/ompl.pth

For my installation, py binding path is /home/ubuntu/RoboGen/ompl/py-bindings

[DavoodSZ]

I solved this problem by using the latest ompl source from github, following this approach:

in install_ompl_1.5.2.sh comment out the last line: install_ompl -> #install_ompl

Run install_ompl_1.5.2.sh to install apt requirements.

Update my pypy3 install following @koupoo 's guide.

Compile ompl with the guide from Github

git clone https://github.com/ompl/ompl.git

mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine

Don't forget to add py binding path to {your_conda_install}/envs/robogen/lib/python3.9/site-packages/ompl.pth

For my installation, py binding path is /home/ubuntu/RoboGen/ompl/py-bindings

Hey,
I exactly followed your steps for ubuntu 20.04, but I get the following error.

[ 74%] Built target test_nearestneighbors
/usr/bin/ld: CMakeFiles/test_2dpath_simplifying.dir/geometric/2d/2dpath_simplifying.cpp.o: in function SimplifyTest::SimplifyTest()': 2dpath_simplifying.cpp:(.text._ZN12SimplifyTestC2Ev[_ZN12SimplifyTestC5Ev]+0x1cc): undefined reference to boost::filesystem::path::operator/=(boost::filesystem::path const&)'
/usr/bin/ld: 2dpath_simplifying.cpp:(.text._ZN12SimplifyTestC2Ev[_ZN12SimplifyTestC5Ev]+0x819): undefined reference to `boost::filesystem::path::operator/=(boost::filesystem::path const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [tests/CMakeFiles/test_2dpath_simplifying.dir/build.make:93: bin/test_2dpath_simplifying] Error 1
make[1]: *** [CMakeFiles/Makefile2:1124: tests/CMakeFiles/test_2dpath_simplifying.dir/all] Error 2
[ 74%] Linking CXX shared module ../lib/_util.so
Copying python module util into place
[ 74%] Built target py_ompl_util
make: *** [Makefile:163: all] Error 2

Any Ideas?
Thanks

[zkingston]

@yufeiwang63

Hi, I'm the maintainer of OMPL. If possible, I'd recommend using the pre-built Python wheels (available here currently: https://github.com/ompl/ompl/releases/tag/prerelease). We plan to release on PyPI soon.

Happy to help with build issues - I'd recommend if possible using the latest version of OMPL, as 1.5.2 has some known issues with compilation.

[DavoodSZ]

Thanks,

I clone the latest version from your Github repo. However, I still have a problem with boost. I already have raised an issue regarding this.

I have no idea how should I integrate this Python wheels with OMPL, as I'm new in this area.

I wonder whether is there any other way to use OMPL Python bindings on other platforms (Windows)?

Thanks again

[yufeiwang63]

@yufeiwang63

Hi, I'm the maintainer of OMPL. If possible, I'd recommend using the pre-built Python wheels (available here currently: https://github.com/ompl/ompl/releases/tag/prerelease). We plan to release on PyPI soon.

Happy to help with build issues - I'd recommend if possible using the latest version of OMPL, as 1.5.2 has some known issues with compilation.

Thanks! I used OMPL 1.5.2 because I had trouble building from the latest source back then (I think it was version 1.6).
It's great to know that you have the prebuilt python wheels! I have updated the readme with your suggestion.

Thanks for looking into this issue!

[yufeiwang63]

Hi,

If any of you are still having trouble installing ompl python binding from source, please take a look at installing it from the pre-built python wheels, see the updated ReadMe for details.