Run Python script from console - Module lula not found

Hi,

I’m trying to run one of the standalone example scripts from IsaacSIM.
But when I run from ~/ .local/share/ov/pkg/isaac_sim-2022.1.1

./python.sh standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py

I get the error:

2022-09-22 10:14:33 [4,065ms] [Error] [omni.ext.impl.custom_importer] Failed to import python module omni.isaac.dofbot. Error: No module named 'lula'. Traceback:
Traceback (most recent call last):
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/python/lib/python3.7/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1006, in _gcd_import
  File "<frozen importlib._bootstrap>", line 983, in _find_and_load
  File "<frozen importlib._bootstrap>", line 967, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 677, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 728, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.dofbot/omni/isaac/dofbot/__init__.py", line 10, in <module>
    from omni.isaac.dofbot.kinematics_solver import KinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.dofbot/omni/isaac/dofbot/kinematics_solver.py", line 9, in <module>
    from omni.isaac.motion_generation import ArticulationKinematicsSolver, interface_config_loader, LulaKinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
    from omni.isaac.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 1, in <module>
    from .motion_policies import RmpFlow
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 14, in <module>
    import lula
ModuleNotFoundError: No module named 'lula'

What import do I need to do or am I running the script wrong?

Hi @wagnch02

Mmmmm, can you try the following command (that enables the omni.isaac.lula extension) and show the output?

./python.sh standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py --enable "omni.isaac.lula"

Hi @toni.sm

thanks for your fast reply!
Unfortunately this didn’t work either…
Here you have the complete output:

Starting kit application with the fillowing args:  ['/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--ext-folder', '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts', '--ext-folder', '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application:  ['--enable', 'omni.isaac.lula']
[Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[Info] [carb] Logging to file: /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/logs/Kit/Isaac-Sim/2022.1/kit_20220922_145549.log
2022-09-22 12:55:49 [2ms] [Warning] [omni.ext.plugin] [ext: omni.drivesim.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.drivesim.sensors.nv.lidar' or '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.drivesim.sensors.nv.lidar/config'
[0.050s] [ext: omni.stats-0.0.0] startup
[0.078s] [ext: omni.gpu_foundation-0.0.0] startup
2022-09-22 12:55:49 [77ms] [Warning] [carb] FrameworkImpl::setDefaultPlugin(client: omni.gpu_foundation_factory.plugin, desc : [carb::graphics::Graphics v2.5], plugin : carb.graphics-vulkan.plugin) failed. Plugin selection is locked, because the interface was previously acquired by: 
[0.085s] [ext: carb.windowing.plugins-1.0.0] startup
[0.093s] [ext: omni.assets.plugins-0.0.0] startup
[0.094s] [ext: omni.kit.renderer.init-0.0.0] startup

|---------------------------------------------------------------------------------------------|
| Driver Version: 515.65.1      | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3090          | Yes: 0 |     | 24822   MB | 10de      | 0          |
|     |                                  |        |     |            | 2204      | 525e91fa.. |
|=============================================================================================|
| OS: Linux i-srrc-ws-32, Version: 5.15.0-46-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: AMD Ryzen 9 5950X 16-Core Processor             | Cores: Unknown | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64227 | Free Memory: 41656
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2022-09-22 12:55:49 [802ms] [Warning] [carb.cudainterop.plugin] On Linux only, CUDA and the display driver does not support IOMMU-enabled bare-metal PCIe peer to peer memory copy.
However, CUDA and the display driver does support IOMMU via VM pass through. As a consequence, users on Linux,
when running on a native bare metal system, should disable the IOMMU. The IOMMU should be enabled and the VFIO driver
be used as a PCIe pass through for virtual machines.
[0.814s] [ext: omni.kit.pipapi-0.0.0] startup
[0.827s] [ext: omni.kit.pip_archive-0.0.0] startup
[0.839s] [ext: omni.isaac.core_archive-1.2.0] startup
[0.994s] [ext: omni.usd.config-1.0.0] startup
[0.995s] [ext: omni.usd.libs-1.0.0] startup
[1.109s] [ext: omni.kit.pip_torch-1_11_0-0.1.3] startup
[1.150s] [ext: omni.isaac.ml_archive-1.1.0] startup
[1.207s] [ext: omni.kit.loop-isaac-0.1.0] startup
[1.207s] [ext: omni.kit.async_engine-0.0.0] startup
[1.209s] [ext: omni.appwindow-1.0.0] startup
[1.213s] [ext: omni.client-0.1.0] startup
[1.221s] [ext: omni.kit.test-0.0.0] startup
[1.222s] [ext: omni.kit.renderer.core-0.0.0] startup
[1.499s] [ext: omni.ui-2.10.3] startup
[1.512s] [ext: carb.audio-0.1.0] startup
[1.533s] [ext: omni.kit.mainwindow-0.0.0] startup
[1.536s] [ext: omni.uiaudio-1.0.0] startup
[1.537s] [ext: omni.kit.uiapp-0.0.0] startup
[1.537s] [ext: omni.usd.schema.physics-1.0.0] startup
[1.575s] [ext: omni.usd.schema.audio-0.0.0] startup
[1.584s] [ext: omni.usd.schema.semantics-0.0.0] startup
[1.592s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[1.598s] [ext: omni.usd.schema.anim-0.0.0] startup
[1.629s] [ext: omni.kit.commands-1.2.2] startup
[1.633s] [ext: omni.timeline-1.0.2] startup
[1.635s] [ext: omni.hydra.scene_delegate-0.2.0] startup
[1.639s] [ext: omni.kit.audiodeviceenum-1.0.0] startup
[1.640s] [ext: omni.usd-1.5.3] startup
[1.674s] [ext: omni.kit.asset_converter-1.2.31] startup
[1.685s] [ext: omni.usd.schema.physx-0.0.0] startup
[1.706s] [ext: omni.usd.schema.isaac-0.2.0] startup
[1.737s] [ext: omni.usd.schema.forcefield-0.0.0] startup
[1.743s] [ext: omni.kvdb-0.0.0] startup
[1.746s] [ext: omni.usdphysics-1.4.15] startup
[1.748s] [ext: omni.graph.tools-1.4.0] startup
[1.765s] [ext: omni.localcache-0.0.0] startup
[1.767s] [ext: omni.kit.stage_templates-1.1.2] startup
[1.769s] [ext: omni.convexdecomposition-1.4.15] startup
[1.771s] [ext: omni.physics.tensors-0.1.0] startup
[1.776s] [ext: omni.physx-1.4.15-5.1] startup
2022-09-22 12:55:50 [1,780ms] [Warning] [omni.kvdb.plugin] wasn't able to load the meta database, trying to repair it ...
2022-09-22 12:55:50 [1,814ms] [Warning] [omni.kvdb.plugin] repair failed
[1.820s] [ext: omni.graph.core-2.29.1] startup
[1.823s] [ext: omni.kit.menu.utils-1.2.11] startup
[1.831s] [ext: omni.physx.tensors-0.1.0] startup
[1.836s] [ext: omni.graph-1.23.0] startup
[1.895s] [ext: omni.kit.numpy.common-0.1.0] startup
[1.897s] [ext: omni.kit.window.script_editor-1.6.2] startup
[1.904s] [ext: omni.kit.search_core-1.0.2] startup
[1.905s] [ext: omni.isaac.dynamic_control-1.1.0] startup
[1.911s] [ext: omni.kit.renderer.capture-0.0.0] startup
[1.913s] [ext: omni.kit.widget.filebrowser-2.2.27] startup
[1.919s] [ext: omni.kit.widget.path_field-2.0.3] startup
[1.920s] [ext: omni.kit.notification_manager-1.0.5] startup
[1.925s] [ext: omni.kit.widget.versioning-1.3.8] startup
[1.927s] [ext: omni.kit.widget.browser_bar-2.0.3] startup
[1.928s] [ext: omni.kit.window.popup_dialog-2.0.8] startup
[1.930s] [ext: omni.mdl.neuraylib-0.1.0] startup
[1.932s] [ext: omni.kit.window.filepicker-2.4.30] startup
OmniAssetFileFormat
[1.967s] [ext: omni.kit.menu.create-1.0.2] startup
[1.968s] [ext: omni.mdl-0.1.0] startup
[1.982s] [ext: omni.kit.window.file_importer-1.0.4] startup
[1.983s] [ext: omni.kit.window.file_exporter-1.0.4] startup
[1.984s] [ext: omni.kit.material.library-1.3.10] startup
[1.986s] [ext: omni.kit.window.drop_support-1.0.0] startup
[1.986s] [ext: omni.kit.window.file-1.3.16] startup
[1.988s] [ext: omni.kit.context_menu-1.3.9] startup
[1.991s] [ext: omni.kit.window.property-1.6.3] startup
[1.992s] [ext: omni.kit.window.content_browser-2.4.28] startup
[2.006s] [ext: omni.kit.widget.stage-2.6.15] startup
[2.009s] [ext: omni.isaac.version-1.0.0] startup
[2.010s] [ext: omni.kit.property.usd-3.14.9] startup
[2.035s] [ext: omni.kit.viewport.legacy_gizmos-1.0.0] startup
[2.037s] [ext: omni.hydra.rtx-0.1.0] startup
[2.043s] [ext: omni.renderer-rtx-0.0.0] startup
[2.043s] [ext: omni.hydra.engine.stats-1.0.0] startup
[2.047s] [ext: omni.debugdraw-0.1.0] startup
[2.051s] [ext: omni.kit.widget.settings-1.0.0] startup
[2.052s] [ext: omni.kit.window.viewport-0.0.0] startup
[2.649s] [ext: omni.kit.widget.prompt-1.0.1] startup
[2.650s] [ext: omni.kit.widget.graph-1.4.3] startup
[2.656s] [ext: omni.kit.window.preferences-1.2.1] startup
[2.684s] [ext: omni.ui_query-1.1.1] startup
[2.686s] [ext: omni.graph.ui-1.6.1] startup
[2.745s] [ext: omni.kit.ui_test-1.2.2] startup
[2.746s] [ext: omni.graph.action-1.18.0] startup
[2.755s] [ext: omni.kit.widget.searchfield-1.0.6] startup
[2.756s] [ext: omni.kit.usd_undo-0.1.0] startup
[2.757s] [ext: omni.graph.scriptnode-0.5.0] startup
[2.759s] [ext: omni.physx.commands-1.4.15-5.1] startup
[2.763s] [ext: omni.graph.nodes-1.26.0] startup
[2.773s] [ext: omni.command.usd-1.0.1] startup
[2.776s] [ext: omni.kit.window.extensions-1.1.0] startup
[2.779s] [ext: omni.syntheticdata-0.2.1] startup
[2.804s] [ext: omni.kit.primitive.mesh-1.0.0] startup
[2.808s] [ext: omni.warp-0.2.2] startup
Warp initialized:
   Version: 0.2.2
   CUDA device: NVIDIA GeForce RTX 3090
   Kernel cache: /home/isy/.cache/warp/0.2.2
[3.322s] [ext: omni.isaac.ui-0.2.1] startup
[3.324s] [ext: omni.replicator.core-1.4.3] startup
[3.428s] [ext: omni.isaac.core-1.24.3] startup
[3.499s] [ext: omni.physx.ui-1.4.15-5.1] startup
[3.545s] [ext: omni.kit.property.material-1.8.5] startup
[3.547s] [ext: omni.kit.window.toolbar-1.2.4] startup
[3.552s] [ext: omni.isaac.core_nodes-0.13.0] startup
[3.639s] [ext: omni.physx.demos-1.4.15-5.1] startup
[3.641s] [ext: omni.kit.property.physx-0.1.0] startup
2022-09-22 12:55:52 [3,686ms] [Warning] [omni.physx.plugin] Deprecated: getSimulationEventStream is deprecated, please use getSimulationEventStreamV2
[3.694s] [ext: omni.physx.tests-1.4.15-5.1] startup
[3.828s] [ext: omni.isaac.wheeled_robots-0.5.8] startup
[3.837s] [ext: omni.kit.menu.common-1.0.0] startup
[3.839s] [ext: omni.physx.vehicle-1.4.15-5.1] startup
[3.847s] [ext: omni.physx.cct-1.4.15-5.1] startup
[3.893s] [ext: omni.physx.camera-1.4.15-5.1] startup
[3.899s] [ext: omni.kit.widget.stage_icons-1.0.2] startup
[3.900s] [ext: omni.ui.scene-1.5.0] startup
[3.905s] [ext: omni.physx.bundle-1.4.15-5.1] startup
[3.905s] [ext: omni.kit.window.stage-2.3.7] startup
[3.908s] [ext: omni.replicator.composer-1.1.3] startup
[3.920s] [ext: omni.isaac.lula-1.1.0] startup
2022-09-22 12:55:52 [3,921ms] [Error] [omni.ext.impl.custom_importer] Failed to import python module lula. Error: /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_planning/bin/liblula_util.so: undefined symbol: _ZN4YAML8LoadFileERKSs. Traceback:
Traceback (most recent call last):
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/python/lib/python3.7/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1006, in _gcd_import
  File "<frozen importlib._bootstrap>", line 983, in _find_and_load
  File "<frozen importlib._bootstrap>", line 967, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 670, in _load_unlocked
  File "<frozen importlib._bootstrap>", line 583, in module_from_spec
  File "<frozen importlib._bootstrap_external>", line 1043, in create_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
ImportError: /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_planning/bin/liblula_util.so: undefined symbol: _ZN4YAML8LoadFileERKSs

2022-09-22 12:55:52 [3,921ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'lula' in '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.lula/pip_prebundle' failed to load.

At:
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(177): startup
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(268): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(293): _start_app
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(167): __init__
  standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py(11): <module>

2022-09-22 12:55:52 [3,921ms] [Error] [omni.ext.plugin] [ext: omni.isaac.lula-1.1.0] Failed to startup python extension.
[3.948s] [ext: omni.rtx.window.settings-0.6.1] startup
[3.953s] [ext: omni.isaac.surface_gripper-0.1.2] startup
[3.957s] [ext: omni.isaac.motion_planning-0.2.0] startup
[3.964s] [ext: omni.rtx.settings.core-0.5.5] startup
[3.968s] [ext: omni.isaac.manipulators-1.0.1] startup
[3.969s] [ext: omni.isaac.motion_generation-3.6.1] startup
2022-09-22 12:55:52 [3,969ms] [Error] [omni.ext.impl.custom_importer] Failed to import python module omni.isaac.motion_generation. Error: No module named 'lula'. Traceback:
Traceback (most recent call last):
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/python/lib/python3.7/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1006, in _gcd_import
  File "<frozen importlib._bootstrap>", line 983, in _find_and_load
  File "<frozen importlib._bootstrap>", line 967, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 677, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 728, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
    from omni.isaac.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 1, in <module>
    from .motion_policies import RmpFlow
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 14, in <module>
    import lula
ModuleNotFoundError: No module named 'lula'

2022-09-22 12:55:52 [3,969ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.motion_generation' in '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation' failed to load.

At:
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(177): startup
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(268): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(293): _start_app
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(167): __init__
  standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py(11): <module>

2022-09-22 12:55:52 [3,969ms] [Error] [omni.ext.plugin] [ext: omni.isaac.motion_generation-3.6.1] Failed to startup python extension.
[3.979s] [ext: omni.kit.widget.zoombar-1.0.3] startup
[3.980s] [ext: omni.kit.graph.delegate.default-1.0.15] startup
[3.982s] [ext: omni.isaac.franka-0.3.0] startup
2022-09-22 12:55:53 [3,979ms] [Error] [omni.ext.impl.custom_importer] Failed to import python module omni.isaac.franka. Error: No module named 'lula'. Traceback:
Traceback (most recent call last):
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/python/lib/python3.7/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1006, in _gcd_import
  File "<frozen importlib._bootstrap>", line 983, in _find_and_load
  File "<frozen importlib._bootstrap>", line 967, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 677, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 728, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.franka/omni/isaac/franka/__init__.py", line 10, in <module>
    from omni.isaac.franka.kinematics_solver import KinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.franka/omni/isaac/franka/kinematics_solver.py", line 9, in <module>
    from omni.isaac.motion_generation import ArticulationKinematicsSolver, interface_config_loader, LulaKinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
    from omni.isaac.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 1, in <module>
    from .motion_policies import RmpFlow
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 14, in <module>
    import lula
ModuleNotFoundError: No module named 'lula'

2022-09-22 12:55:53 [3,979ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.franka' in '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.franka' failed to load.

At:
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(177): startup
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(268): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(293): _start_app
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(167): __init__
  standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py(11): <module>

2022-09-22 12:55:53 [3,979ms] [Error] [omni.ext.plugin] [ext: omni.isaac.franka-0.3.0] Failed to startup python extension.
[3.987s] [ext: omni.kit.browser.core-2.0.12] startup
[3.990s] [ext: omni.kit.graph.editor.core-1.3.3] startup
[3.992s] [ext: omni.kit.graph.usd.commands-1.1.0] startup
[3.993s] [ext: omni.kit.browser.folder.core-1.1.13] startup
[3.995s] [ext: omni.kit.graph.widget.variables-2.0.2] startup
[3.996s] [ext: omni.kit.graph.delegate.modern-1.6.0] startup
[3.998s] [ext: omni.kit.selection-0.1.0] startup
[3.998s] [ext: omni.isaac.debug_draw-0.1.2] startup
[4.003s] [ext: omni.graph.window.core-1.23.4] startup
[4.007s] [ext: omni.graph.instancing-1.1.4] startup
[4.011s] [ext: omni.kit.menu.edit-1.0.6] startup
[4.013s] [ext: omni.isaac.isaac_sensor-1.0.2] startup
2022-09-22 12:55:53 [4,012ms] [Warning] [omni.physx.plugin] Deprecated: getSimulationEventStream is deprecated, please use getSimulationEventStreamV2
[4.021s] [ext: omni.graph.tutorials-1.1.2] startup
[4.031s] [ext: omni.graph.window.action-1.3.8] startup
[4.033s] [ext: omni.kit.widget.live-0.1.0] startup
[4.036s] [ext: omni.kit.widget.layers-1.5.17] startup
[4.046s] [ext: omni.graph.bundle.action-1.0.0] startup
[4.046s] [ext: omni.isaac.range_sensor-0.4.3] startup
[4.066s] [ext: omni.kit.property.layer-1.1.2] startup
[4.067s] [ext: omni.replicator.isaac-1.3.2] startup
[4.152s] [ext: omni.isaac.kit-0.2.1] startup
[4.153s] [ext: omni.graph.window.generic-1.3.8] startup
[4.154s] [ext: omni.isaac.utils-0.1.11] startup
[4.157s] [ext: omni.kit.property.audio-1.0.5] startup
[4.158s] [ext: omni.kit.property.skel-1.0.1] startup
[4.159s] [ext: omni.kit.property.render-1.1.0] startup
[4.160s] [ext: omni.kit.property.camera-1.0.3] startup
[4.161s] [ext: omni.kit.property.geometry-1.2.0] startup
[4.162s] [ext: omni.kit.property.light-1.0.5] startup
[4.163s] [ext: omni.kit.property.transform-1.0.2] startup
[4.165s] [ext: omni.isaac.universal_robots-0.3.0] startup
2022-09-22 12:55:53 [4,163ms] [Error] [omni.ext.impl.custom_importer] Failed to import python module omni.isaac.universal_robots. Error: No module named 'lula'. Traceback:
Traceback (most recent call last):
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/python/lib/python3.7/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1006, in _gcd_import
  File "<frozen importlib._bootstrap>", line 983, in _find_and_load
  File "<frozen importlib._bootstrap>", line 967, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 677, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 728, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/__init__.py", line 10, in <module>
    from omni.isaac.universal_robots.kinematics_solver import KinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/kinematics_solver.py", line 9, in <module>
    from omni.isaac.motion_generation import ArticulationKinematicsSolver, interface_config_loader, LulaKinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
    from omni.isaac.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 1, in <module>
    from .motion_policies import RmpFlow
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 14, in <module>
    import lula
ModuleNotFoundError: No module named 'lula'

2022-09-22 12:55:53 [4,163ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.universal_robots' in '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.universal_robots' failed to load.

At:
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(177): startup
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(268): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(293): _start_app
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(167): __init__
  standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py(11): <module>

2022-09-22 12:55:53 [4,163ms] [Error] [omni.ext.plugin] [ext: omni.isaac.universal_robots-0.3.0] Failed to startup python extension.
[4.171s] [ext: omni.isaac.occupancy_map-0.2.4] startup
[4.181s] [ext: omni.kit.window.console-0.2.0] startup
[4.185s] [ext: omni.kit.window.status_bar-0.1.1] startup
[4.188s] [ext: omni.kit.property.bundle-1.2.4] startup
[4.189s] [ext: omni.kit.menu.file-1.0.8] startup
[4.190s] [ext: omni.kit.manipulator.viewport-1.0.6] startup
[4.193s] [ext: omni.isaac.urdf-0.4.0] startup
[4.214s] [ext: omni.isaac.dofbot-0.3.0] startup
2022-09-22 12:55:53 [4,212ms] [Error] [omni.ext.impl.custom_importer] Failed to import python module omni.isaac.dofbot. Error: No module named 'lula'. Traceback:
Traceback (most recent call last):
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/python/lib/python3.7/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1006, in _gcd_import
  File "<frozen importlib._bootstrap>", line 983, in _find_and_load
  File "<frozen importlib._bootstrap>", line 967, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 677, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 728, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.dofbot/omni/isaac/dofbot/__init__.py", line 10, in <module>
    from omni.isaac.dofbot.kinematics_solver import KinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.dofbot/omni/isaac/dofbot/kinematics_solver.py", line 9, in <module>
    from omni.isaac.motion_generation import ArticulationKinematicsSolver, interface_config_loader, LulaKinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
    from omni.isaac.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 1, in <module>
    from .motion_policies import RmpFlow
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 14, in <module>
    import lula
ModuleNotFoundError: No module named 'lula'

2022-09-22 12:55:53 [4,212ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.dofbot' in '/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.dofbot' failed to load.

At:
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(177): startup
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/plugins/bindings-python/omni/ext/impl/_internal.py(268): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(293): _start_app
  /home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(167): __init__
  standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py(11): <module>

2022-09-22 12:55:53 [4,212ms] [Error] [omni.ext.plugin] [ext: omni.isaac.dofbot-0.3.0] Failed to startup python extension.
[4.220s] [ext: omni.kit.window.title-1.1.2] startup
[4.221s] [ext: omni.kit.profiler.window-1.4.4] startup
[4.225s] [ext: omni.graph.visualization.nodes-1.1.1] startup
[4.228s] [ext: omni.isaac.synthetic_utils-0.3.5] startup
[4.230s] [ext: semantics.schema.editor-0.2.3] startup
[4.233s] [ext: omni.isaac.sim.python-2022.1.1] startup
[4.233s] Simulation App Starting
[4.926s] app ready
[6.831s] Simulation App Startup Complete
Traceback (most recent call last):
  File "standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py", line 13, in <module>
    from omni.isaac.universal_robots.tasks import FollowTarget
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/__init__.py", line 10, in <module>
    from omni.isaac.universal_robots.kinematics_solver import KinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/kinematics_solver.py", line 9, in <module>
    from omni.isaac.motion_generation import ArticulationKinematicsSolver, interface_config_loader, LulaKinematicsSolver
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
    from omni.isaac.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 1, in <module>
    from .motion_policies import RmpFlow
  File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 14, in <module>
    import lula
ModuleNotFoundError: No module named 'lula'
./python.sh: line 40: 138585 Segmentation fault      (core dumped) $python_exe "$@" $args
There was an error running python

Hi @wagnch02

Make sure you don’t have ROS2 sourced in the current terminal or .bashrc

In any case, you can clean the LD_LIBRARY_PATH as follow, then run the script again

unset LD_LIBRARY_PATH
./python.sh standalone_examples/api/omni.isaac.universal_robots/follow_target_with_rmpflow.py

For reference: (5. ROS & ROS 2 Installation — Omniverse Robotics documentation)

Do not source ROS2 in the terminal running Isaac Sim, standalone python scripts or Isaac Cortex as that can cause errors during startup because of conflicting symbols.

1 Like

That was exactly the problem. It works now.
Thank you very much!

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