About Raisim Torch Conflict

[DenizYilmazx]

Hi,

I will implement a RL algorithm with using Raisim. For that I will use libtorch but when I try to link libraries I got error as shown below. I will also add my CMake file.

Both libtorch and raisim are working separately. But when I create my run.cpp file and add launchServer() line, I got similar errors. In this error it seems like, it could not find the raisim library but if I remove torch it works properly.

Is there any conflict between libraries? Thanks in advance.

Sincerely,

"""Error"""

/usr/bin/ld: CMakeFiles/run.dir/src/run.cpp.o: in function raisim::World::exportToXml(std::string const&)': /home/deno/raisimLib/build/include/raisim/World.hpp:107: undefined reference to raisim::World::exportToXml(std::string const&, std::string const&)'
/usr/bin/ld: CMakeFiles/run.dir/src/run.cpp.o: in function raisim::RaisimServer::processRequests()': /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1151: undefined reference to raisim::World::addBox(double, double, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1153: undefined reference to raisim::World::addSphere(double, double, std::string const&, unsigned long, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1155: undefined reference to raisim::World::addCylinder(double, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1157: undefined reference to raisim::World::addCapsule(double, double, double, std::string const&, unsigned long, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1159: undefined reference to raisim::World::addMesh(std::string const&, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1180: undefined reference to raisim::World::addGround(double, std::string const&, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1183: undefined reference to raisim::World::addHeightMap(std::string const&, double, double, double, double, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1186: undefined reference to `raisim::World::addArticulatedSystem(std::string const&, std::string const&, std::vector<std::string, std::allocatorstd::string > const&, unsigned long, unsigned long, raisim::ArticulatedSystemOption)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/run.dir/build.make:102: run] Error 1
make[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/run.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

CMakeLists.txt

[jhwangbo]

That is not how you should link raisim. Please check the CMake example here

https://raisim.com/sections/Introduction.html

[DenizYilmazx]

I changed Cmake to this and raisim works fine.

cmake_minimum_required(VERSION 3.10)
project(franka_project LANGUAGES CXX)

set(CMAKE_PREFIX_PATH "/home/deno/raisimLib/build")

find_package(raisim CONFIG REQUIRED)
find_package(Eigen3 REQUIRED)

include_directories (${EIGEN3_INCLUDE_DIRS})

add_executable(franka src/franka_1.cpp src/Franka_Library/Math_Functions.cpp src/Franka_Library/Kinematics_Dynamics.cpp)
target_link_libraries(franka PUBLIC raisim::raisim pthread)
target_include_directories(franka PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)

But when I add necessary lines for torch(shown below), I got an error again.

cmake_minimum_required(VERSION 3.10)
project(franka_project LANGUAGES CXX)

set(CMAKE_PREFIX_PATH "/home/deno/raisimLib/build" ; "/home/deno/libtorch")

find_package(raisim CONFIG REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Torch REQUIRED)

include_directories (${EIGEN3_INCLUDE_DIRS})

add_executable(franka src/franka_1.cpp src/Franka_Library/Math_Functions.cpp src/Franka_Library/Kinematics_Dynamics.cpp)
target_link_libraries(franka PUBLIC raisim::raisim pthread ; "${TORCH_LIBRARIES}")
target_include_directories(franka PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)

""Error""

/usr/bin/ld: CMakeFiles/franka.dir/src/franka_1.cpp.o: in function main': /home/deno/deno_ws/src/franka_1.cpp:23: undefined reference to raisim::World::addGround(double, std::string const&, unsigned long)'
/usr/bin/ld: /home/deno/deno_ws/src/franka_1.cpp:25: undefined reference to raisim::World::addArticulatedSystem(std::string const&, std::string const&, std::vector<std::string, std::allocator<std::string> > const&, unsigned long, unsigned long, raisim::ArticulatedSystemOption)' /usr/bin/ld: CMakeFiles/franka.dir/src/franka_1.cpp.o: in function raisim::World::exportToXml(std::string const&)':
/home/deno/raisimLib/build/include/raisim/World.hpp:107: undefined reference to raisim::World::exportToXml(std::string const&, std::string const&)' /usr/bin/ld: CMakeFiles/franka.dir/src/franka_1.cpp.o: in function raisim::RaisimServer::processRequests()':
/home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1151: undefined reference to raisim::World::addBox(double, double, double, double, std::string const&, unsigned long, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1153: undefined reference to raisim::World::addSphere(double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1155: undefined reference to raisim::World::addCylinder(double, double, double, std::string const&, unsigned long, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1157: undefined reference to raisim::World::addCapsule(double, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1159: undefined reference to raisim::World::addMesh(std::string const&, double, double, std::string const&, unsigned long, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1180: undefined reference to raisim::World::addGround(double, std::string const&, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1183: undefined reference to raisim::World::addHeightMap(std::string const&, double, double, double, double, double, double, std::string const&, unsigned long, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1186: undefined reference to raisim::World::addArticulatedSystem(std::string const&, std::string const&, std::vector<std::string, std::allocatorstd::string > const&, unsigned long, unsigned long, raisim::ArticulatedSystemOption)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/franka.dir/build.make:138: franka] Error 1
make[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/franka.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

[jhwangbo]

I am not sure what the semi colon and quotation marks do in the target_link_libraries. Can you remove them?

Also can you print out the list "${TORCH_LIBRARIES}"?

[DenizYilmazx]

I removed the semi colon and quotation marks. the only problem is in the target link libraries. It works fine just with raisim but when I add the Torch to that line, I got the error as "undefined reference". Also in the installation part of the libtorch, (https://pytorch.org/cppdocs/installing.html)

I need to add torch library as this target_link_libraries(example-app "${TORCH_LIBRARIES}").

Find the print of the torch libraries below,

-- raisim:
-- Version: 1.1.7
-- Includes: /home/deno/raisimLib/build/include
-- Libraries: raisim::raisimPng;raisim::raisimODE;raisim::raisimMine;raisim::raisim
-- TORCH_LIBRARIES: torch;torch_library;/home/deno/libtorch/lib/libc10.so;/home/deno/libtorch/lib/libkineto.a
-- Configuring done (0.0s)
-- Generating done (0.0s)
-- Build files have been written to: /home/deno/deno_ws/build

I also added the updated version of CMake.
CMakeLists.txt

[DenizYilmazx]

---

Also when I just #include raisim and use functions as world etc. I can build the project without any error but when I add the line server.launchServer() I got the error that I mentioned below.

/usr/bin/ld: CMakeFiles/franka.dir/src/franka_1.cpp.o: in function raisim::World::exportToXml(std::string const&)': /home/deno/raisimLib/build/include/raisim/World.hpp:107: undefined reference to raisim::World::exportToXml(std::string const&, std::string const&)'
/usr/bin/ld: CMakeFiles/franka.dir/src/franka_1.cpp.o: in function raisim::RaisimServer::processRequests()': /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1151: undefined reference to raisim::World::addBox(double, double, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1153: undefined reference to raisim::World::addSphere(double, double, std::string const&, unsigned long, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1155: undefined reference to raisim::World::addCylinder(double, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1157: undefined reference to raisim::World::addCapsule(double, double, double, std::string const&, unsigned long, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1159: undefined reference to raisim::World::addMesh(std::string const&, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1180: undefined reference to raisim::World::addGround(double, std::string const&, unsigned long)' /usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1183: undefined reference to raisim::World::addHeightMap(std::string const&, double, double, double, double, double, double, std::string const&, unsigned long, unsigned long)'
/usr/bin/ld: /home/deno/raisimLib/build/include/raisim/RaisimServer.hpp:1186: undefined reference to `raisim::World::addArticulatedSystem(std::string const&, std::string const&, std::vector<std::string, std::allocatorstd::string > const&, unsigned long, unsigned long, raisim::ArticulatedSystemOption)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/franka.dir/build.make:138: franka] Error 1
make[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/franka.dir/all] Error 2

---

[jhwangbo]

set(CMAKE_PREFIX_PATH "/home/deno/raisimLib/build" "/home/deno/libtorch")
why are you adding .../raisimLib/build? You should add .../raisimLib/raisim/linux

[DenizYilmazx]

Thank you for the correction. I changed it to linux folder but it did not solve my problem. You can find the updated Cmake.
CMakeLists.txt

[Ming-Di]

Thank you for the correction. I changed it to linux folder but it did not solve my problem. You can find the updated Cmake. CMakeLists.txt

Hi, have you solved this problem yet? I’m facing the same problem now.

[DenizYilmazx]

Sorry, I could not solve it.