USD Installation in Ubuntu

Hi NVIDIA,

I’m having issue with omni.isaac.DrSchema, which invokes an error as importing Usd module from pxr

tad@tad:~/ISAAC/ISAAC_SIM_2020_1$ _build/target-deps/kit_sdk_release/_build/target-deps/python/bin/python3
Python 3.6.8 (default, Jan  8 2020, 19:27:45) 
[GCC 7.3.1 20180303 (Red Hat 7.3.1-5)] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import omni.isaac.DrSchema as DrSchema
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Tf'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Tf/__init__.py", line 85, in <module>
    from . import _tf
ImportError: /usr/local/USD/lib/python/pxr/Tf/_tf.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__8TfNotice14_DelivererBaseE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Trace'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Trace/__init__.py", line 28, in <module>
    from . import _trace
ImportError: /usr/local/USD/lib/python/pxr/Trace/_trace.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__9TfRefBaseE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Work'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Work/__init__.py", line 31, in <module>
    from . import _work
ImportError: /usr/local/USD/lib/python/pxr/Work/_work.so: undefined symbol: _ZN32pxrInternal_v0_20__pxrReserved__31WorkSetConcurrencyLimitArgumentEi
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Plug'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Plug/__init__.py", line 28, in <module>
    from . import _plug
ImportError: /usr/local/USD/lib/python/pxr/Plug/_plug.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__10PlugNotice4BaseE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Gf'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Gf/__init__.py", line 31, in <module>
    from pxr import Tf
  File "/usr/local/USD/lib/python/pxr/Tf/__init__.py", line 85, in <module>
    from . import _tf
ImportError: /usr/local/USD/lib/python/pxr/Tf/_tf.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__8TfNotice14_DelivererBaseE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Vt'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Vt/__init__.py", line 31, in <module>
    from . import _vt
ImportError: /usr/local/USD/lib/python/pxr/Vt/_vt.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__19VtStreamOutIteratorE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Ar'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Ar/__init__.py", line 24, in <module>
    from . import _ar
ImportError: /usr/local/USD/lib/python/pxr/Ar/_ar.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__17ArResolverContext8_UntypedE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Sdf'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Sdf/__init__.py", line 24, in <module>
    from . import _sdf
ImportError: /usr/local/USD/lib/python/pxr/Sdf/_sdf.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__19VtStreamOutIteratorE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Kind'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Kind/__init__.py", line 26, in <module>
    from . import _kind
ImportError: /usr/local/USD/lib/python/pxr/Kind/_kind.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__21Tf_PyObjectFinderBaseE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Pcp'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Pcp/__init__.py", line 24, in <module>
    from . import _pcp
ImportError: /usr/local/USD/lib/python/pxr/Pcp/_pcp.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__21Tf_PyObjectFinderBaseE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.Usd'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/Usd/__init__.py", line 24, in <module>
    from . import _usd
ImportError: /usr/local/USD/lib/python/pxr/Usd/_usd.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__19VtStreamOutIteratorE
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/work/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp -- Import failed for module 'pxr.UsdGeom'!
Traceback (most recent call last):
  File "/usr/local/USD/lib/python/pxr/UsdGeom/__init__.py", line 24, in <module>
    from . import _usdGeom
ImportError: /usr/local/USD/lib/python/pxr/UsdGeom/_usdGeom.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__19VtStreamOutIteratorE
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/tad/ISAAC/ISAAC_SIM_2020_1/_build/linux-x86_64/release/exts/omni.isaac.dr/omni/isaac/DrSchema/__init__.py", line 30, in <module>
    from . import _drSchema
SystemError: initialization of _drSchema raised unreported exception

I asked them here in this issue, however, the guy posting it built USD by CMake, but I installed it using the default script: sudo python3 build_scripts/build_usd.py /usr/local/USD

So do you build USD using a specific installation CMake script or if you also installed using the default one, did you have issue with from pxr import Usd like this?

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/usr/local/USD/lib/python/pxr/Usd/__init__.py", line 24, in <module>
    from . import _usd
ImportError: /usr/local/USD/lib/python/pxr/Usd/_usd.so: undefined symbol: _ZTIN32pxrInternal_v0_20__pxrReserved__19VtStreamOutIteratorE

Thanks in advance!

So I just found this link providing USD prebuilt version, let me try it then:

Hi Tadinu,

Please keep in mind the USD in Isaac Sim (Omniverse) is a modified version of Pixar USD, many schemas have been added to it.

Kindly,
Liila

1 Like

Hi @ltorabi Liila,

So I tried NVIDIA’s USD prebuilt one and it showed seemingly no difference or just similar import errors. But if I type the import directly into the Script Editor inside IsaacSim, it works.
Then I figured out that by running:

export ISAAC_SIM_PATH=~/ISAAC/ISAAC_SIM_2020_1/_build/linux-x86_64/release
source ${ISAAC_SIM_PATH}/setup_python_env.sh

I should not add the external USD python lib to PYTHONPATH anymore.

Thanks.

Great.
Thanks Tadinu.