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pythondrake

drake ImportError: libmosek64.so.9.3: cannot open shared object file: No such file or directory

After successful compiling drake_cxx_python I have got: Output of python3 -c 'import pydrake.all; print(pydrake.__file__)':

Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/home/dmitriy/git/drake-build/install/lib/python3.8/site-packages/pydrake/all.py", line 31, in <module>
    from .autodiffutils import *
ImportError: libmosek64.so.9.3: cannot open shared object file: No such file or directory

I use this command sequence:

rm -rfv drake-build
git clone https://github.com/RobotLocomotion/drake.git
mkdir drake-build
cd drake-build
cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON ../drake
../drake/setup/ubuntu/source_distribution/install_prereqs_user_environment.sh 
make -j4

Next I specify PATH by adding it to /.bashrc file:

#drake
cd ~/git/drake-build/
export PYTHONPATH=${PWD}/install/lib/python3.8/site-packages:${PYTHONPATH}
cd

The output of sudo python3 -c 'import pydrake.all; print(pydrake.__file__)':

Traceback (most recent call last):
  File "<string>", line 1, in <module>
ModuleNotFoundError: No module named 'pydrake'

I installed Mosek use that: instructions

Output of ldd install/lib/python3.8/site-packages/pydrake/solvers/__init__.cpython-38-x86_64-linux-gnu.so | grep -i mosek:

    libmosek64.so.9.3 => not found
    libmosek64.so.9.2 => not found

Output of readelf -d install/lib/python3.8/site-packages/pydrake/solvers/__init__.cpython-38-x86_64-linux-gnu.so | grep -i path:

 0x000000000000001d (RUNPATH)            Library runpath: [/usr/lib/x86_64-linux-gnu/lapack/:/usr/lib/x86_64-linux-gnu/blas/]

And at the same time, there is a file libmosek64.so.9.3*:

~/git/drake-build/install/lib$ l -a
./
../
cmake/
libcilkrts.so.5*
libddApp.so*
libdrake_ibex.so*
libdrake_lcm.so*
libdrake_marker.so*
libdrake.so*
libgurobi95.so@
libgurobi.so.9.5.1*
libmosek64.so.9.3*

Why it doesn't see it?

I tried install drake using pip and I have got the same error: output of python3 -c 'import pydrake.all; print(pydrake.__file__)':

Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/home/dmitriy/git/drake-build/install/lib/python3.8/site-packages/pydrake/all.py", line 31, in <module>
    from .autodiffutils import *
ImportError: libmosek64.so.9.3: cannot open shared object file: No such file or directory
Solution

  • See https://drake.mit.edu/from_source.html#building-the-python-bindings for instructions.

    Pasting it into here:

    To use the Python bindings from Drake externally, we recommend using CMake. As an example:

    git clone https://github.com/RobotLocomotion/drake.git
mkdir drake-build
cd drake-build
cmake ../drake
make -j

    Please note the additional CMake options which affect the Python bindings:

    • -DWITH_GUROBI={ON, [OFF]} - Build with Gurobi enabled.
    • -DWITH_MOSEK={ON, [OFF]} - Build with MOSEK™ enabled.
    • -DWITH_SNOPT={ON, [OFF]} - Build with SNOPT enabled.

    {...} means a list of options, and the option surrounded by [...] is the default option. An example of building pydrake with both Gurobi and MOSEK™, without building tests:

    cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON ../drake

    You will also need to have your PYTHONPATH configured correctly.

    Ubuntu 20.04 (Focal):

    cd drake-build
export PYTHONPATH=${PWD}/install/lib/python3.8/site-packages:${PYTHONPATH}

    macOS:

    cd drake-build
export PYTHONPATH=${PWD}/install/lib/python3.9/site-packages:${PYTHONPATH}

    In particular, in the steps you quoted above, there was no mention of PYTHONPATH. Setting a correct PYTHONPATH is required to use Drake correctly.

    Using Drake git sha e4330af2c97a14170f873b25eb42fa0449feac9d:

    When I run these commands:

    mkdir 73219153
cd 73219153
git clone https://github.com/RobotLocomotion/drake.git
mkdir drake-build
cd drake-build
cmake -DWITH_GUROBI=OFF -DWITH_MOSEK=ON ../drake
../drake/setup/ubuntu/source_distribution/install_prereqs_user_environment.sh 
make -j30
export PYTHONPATH=${PWD}/install/lib/python3.8/site-packages:${PYTHONPATH}
python3 -c 'import pydrake.all; print(pydrake.__file__)'

    ... then it works for me. Here's what I see for library paths:

    jwnimmer@call-cps:~/tmp/73219153/drake-build$ readelf -d install/lib/python3.8/site-packages/pydrake/solvers/__init__.cpython-38-x86_64-linux-gnu.so | grep -i path
 0x000000000000001d (RUNPATH)            Library runpath: [$ORIGIN/../../../..:/usr/lib/x86_64-linux-gnu/lapack/:/usr/lib/x86_64-linux-gnu/blas/]
jwnimmer@call-cps:~/tmp/73219153/drake-build$ ldd install/lib/python3.8/site-packages/pydrake/solvers/__init__.cpython-38-x86_64-linux-gnu.so | grep -i mosek
    libmosek64.so.9.3 => /home/jwnimmer/tmp/73219153/drake-build/install/lib/python3.8/site-packages/pydrake/solvers/../../../../libmosek64.so.9.3 (0x00007fbd03626000)

    I don't know why your library paths aren't working. You'll need to provide better reproduction instructions.