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fix(deps): pin cmeel-urdfdom <5 and cmeel-tinyxml2 <11 in placo-dep (#3873)

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placo pulls in pin (Pinocchio), whose binary wheels dlopen specific cmeel
sonames (liburdfdom_sensor.so.4.0, libtinyxml2.so.10) but declare only `>=`
floors on their cmeel packages. The 2026-05-21 major bumps (cmeel-urdfdom
6.0.0 -> .so.6, cmeel-tinyxml2 11.0.0 -> .so.11) ship newer sonames, so left
unpinned the resolver grabs them and `import placo` fails at load with
"liburdfdom_sensor.so.4.0: cannot open shared object file".

#3647 capped placo and hardened the kinematics import, but the guard only
defers the failure: constructing RobotKinematics still raises. Pin the cmeel
packages to the 4.x / 10.x ABI the placo/pin wheels are built against (there
is no cmeel-urdfdom 5.x; <5 selects 4.x). Regenerated uv.lock with uv 0.8.0
to match CI; the only resolution change is the two cmeel versions (plus a
deterministic decord platform-marker cascade from 4.0.1's wider wheel set).

Fixes #3755
This commit is contained in:
Jiwen Cai
2026-06-24 17:23:25 +08:00
committed by GitHub
parent 6f0ba4be38
commit 79d4976ae2
2 changed files with 43 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pyproject.toml
+8 -1
View File
@@ -140,7 +140,14 @@ av-dep = ["av>=15.0.0,<16.0.0"]
pygame-dep = ["pygame>=2.5.1,<2.7.0"]
# NOTE: 0.9.16 links against liburdfdom_sensor.so.4, which is unavailable on Ubuntu 24.04
# (noble ships urdfdom 3.x). Cap below 0.9.16 until system urdfdom 4.x is broadly available.
placo-dep = ["placo>=0.9.6,<0.9.16"]
#
# NOTE: placo pulls in pin (Pinocchio), whose binary wheels dlopen specific cmeel sonames
# (liburdfdom_sensor.so.4.0, libtinyxml2.so.10) but declare only `>=` floors on their cmeel
# packages. The 2026-05-21 major bumps (cmeel-urdfdom 6.0.0 -> .so.6, cmeel-tinyxml2 11.0.0
# -> .so.11) ship newer sonames, so left unpinned the resolver grabs them and `import placo`
# fails at load with "liburdfdom_sensor.so.4.0: cannot open shared object file" (see #3755).
# There is no cmeel-urdfdom 5.x; <5 selects the 4.x ABI the placo/pin wheels are built against.
placo-dep = ["placo>=0.9.6,<0.9.16", "cmeel-urdfdom>=4,<5", "cmeel-tinyxml2<11"]
transformers-dep = ["transformers>=5.4.0,<5.6.0"]
grpcio-dep = ["grpcio>=1.73.1,<2.0.0", "protobuf>=6.31.1,<8.0.0"]
accelerate-dep = ["accelerate>=1.14.0,<2.0.0"]
uv.lock
Generated
+35 -13
View File
@@ -768,34 +768,46 @@ wheels = [
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@@ -1147,7 +1159,7 @@ name = "decord"
version = "0.6.0"
source = { registry = "https://pypi.org/simple" }
dependencies = [
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{ name = "numpy", marker = "(platform_machine != 'arm64' and platform_machine != 's390x' and sys_platform == 'darwin') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux')" },
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@@ -2788,6 +2800,8 @@ accelerate-dep = [
all = [
{ name = "accelerate" },
{ name = "av" },
{ name = "cmeel-tinyxml2" },
{ name = "cmeel-urdfdom" },
{ name = "contourpy" },
{ name = "datasets" },
{ name = "debugpy" },
@@ -2971,6 +2985,8 @@ hardware = [
]
hilserl = [
{ name = "av" },
{ name = "cmeel-tinyxml2" },
{ name = "cmeel-urdfdom" },
{ name = "datasets" },
{ name = "grpcio" },
{ name = "gym-hil" },
@@ -2993,6 +3009,8 @@ intelrealsense = [
{ name = "pyrealsense2-macosx", marker = "sys_platform == 'darwin'" },
]
kinematics = [
{ name = "cmeel-tinyxml2" },
{ name = "cmeel-urdfdom" },
{ name = "placo" },
]
lekiwi = [
@@ -3066,6 +3084,8 @@ pi = [
{ name = "transformers" },
]
placo-dep = [
{ name = "cmeel-tinyxml2" },
{ name = "cmeel-urdfdom" },
{ name = "placo" },
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@@ -3186,6 +3206,8 @@ requires-dist = [
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{ name = "av", marker = "extra == 'av-dep'", specifier = ">=15.0.0,<16.0.0" },
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