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fix(deps): cap placo below 0.9.16 and harden kinematics import (#3647)

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* fix(deps): cap placo below 0.9.16 and harden kinematics import

placo 0.9.16 links against liburdfdom_sensor.so.4, which is unavailable
on Ubuntu 24.04 (noble ships urdfdom 3.x). Importing placo on that base
crashes with:

  ImportError: liburdfdom_sensor.so.4.0: cannot open shared object file

This broke nightly Latest Deps tests (CPU and GPU) when the lockfile
upgrade picked placo 0.9.16, since lerobot.model.kinematics
unconditionally imports placo when _placo_available is true, and that
check (importlib.util.find_spec) cannot detect dlopen failures of
transitive shared libraries — so unrelated subsystems (RL actor,
gym_manipulator) became unimportable.

Two changes:

1. Pin placo to <0.9.16 in pyproject.toml + regenerate uv.lock
   (0.9.16 → 0.9.15). Short-term unblock for nightly CI until system
   urdfdom 4.x is broadly available.

2. Harden the import guard in src/lerobot/model/kinematics.py:
   wrap 'import placo' in try/except ImportError so a missing
   transitive .so no longer crashes module import. RobotKinematics
   instantiation now raises an informative ImportError citing the
   underlying dlopen failure via _raise_if_placo_unusable().

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* fix(kinematics): hoist _placo_runtime_error to module scope for mypy

Mypy walks the TYPE_CHECKING branch in which the runtime else-block is
not executed, so _placo_runtime_error was only defined at runtime and
mypy reported 'Name "_placo_runtime_error" is not defined' on the
three references inside _raise_if_placo_unusable. Declare the symbol
unconditionally at module scope with a default of None; the runtime
import-failure branch still assigns to it.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* style(kinematics): drop verbose comments around placo import guard

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

---------

Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-05-22 12:03:07 +02:00
committed by GitHub
parent 9f437d86b6
commit 8194897994
3 changed files with 31 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pyproject.toml
+3 -1
View File
@@ -138,7 +138,9 @@ dataset_viz = ["lerobot[dataset]", "lerobot[viz]"]
# Common # Common
av-dep = ["av>=15.0.0,<16.0.0"] av-dep = ["av>=15.0.0,<16.0.0"]
pygame-dep = ["pygame>=2.5.1,<2.7.0"] pygame-dep = ["pygame>=2.5.1,<2.7.0"]
placo-dep = ["placo>=0.9.6,<0.9.17"] # 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"]
transformers-dep = ["transformers>=5.4.0,<5.6.0"] transformers-dep = ["transformers>=5.4.0,<5.6.0"]
grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"] grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
can-dep = ["python-can>=4.2.0,<5.0.0"] can-dep = ["python-can>=4.2.0,<5.0.0"]
src/lerobot/model/kinematics.py
+16 -2
View File
@@ -18,12 +18,25 @@ from typing import TYPE_CHECKING
import numpy as np import numpy as np
from lerobot.utils.import_utils import _placo_available, require_package from lerobot.utils.import_utils import require_package
if TYPE_CHECKING or _placo_available: _placo_runtime_error: ImportError | None = None
if TYPE_CHECKING:
import placo # type: ignore[import-not-found] import placo # type: ignore[import-not-found]
else: else:
try:
import placo # type: ignore[import-not-found]
except ImportError as _placo_import_err:
placo = None placo = None
_placo_runtime_error = _placo_import_err
def _raise_if_placo_unusable() -> None:
if placo is None and _placo_runtime_error is not None:
raise ImportError(
f"placo is installed but failed to import: {_placo_runtime_error!s}"
) from _placo_runtime_error
class RobotKinematics: class RobotKinematics:
@@ -44,6 +57,7 @@ class RobotKinematics:
joint_names (list[str] | None): List of joint names to use for the kinematics solver joint_names (list[str] | None): List of joint names to use for the kinematics solver
""" """
require_package("placo", extra="placo-dep") require_package("placo", extra="placo-dep")
_raise_if_placo_unusable()
self.robot = placo.RobotWrapper(urdf_path) self.robot = placo.RobotWrapper(urdf_path)
self.solver = placo.KinematicsSolver(self.robot) self.solver = placo.KinematicsSolver(self.robot)
uv.lock
Generated
+11 -11
View File
@@ -3203,7 +3203,7 @@ requires-dist = [
{ name = "pandas", marker = "extra == 'video-benchmark'", specifier = ">=2.2.2,<2.4.0" }, { name = "pandas", marker = "extra == 'video-benchmark'", specifier = ">=2.2.2,<2.4.0" },
{ name = "peft", marker = "extra == 'peft-dep'", specifier = ">=0.18.0,<1.0.0" }, { name = "peft", marker = "extra == 'peft-dep'", specifier = ">=0.18.0,<1.0.0" },
{ name = "pillow", specifier = ">=10.0.0,<13.0.0" }, { name = "pillow", specifier = ">=10.0.0,<13.0.0" },
{ name = "placo", marker = "extra == 'placo-dep'", specifier = ">=0.9.6,<0.9.17" }, { name = "placo", marker = "extra == 'placo-dep'", specifier = ">=0.9.6,<0.9.16" },
{ name = "pre-commit", marker = "extra == 'dev'", specifier = ">=3.7.0,<5.0.0" }, { name = "pre-commit", marker = "extra == 'dev'", specifier = ">=3.7.0,<5.0.0" },
{ name = "protobuf", marker = "extra == 'grpcio-dep'", specifier = ">=6.31.1,<6.32.0" }, { name = "protobuf", marker = "extra == 'grpcio-dep'", specifier = ">=6.31.1,<6.32.0" },
{ name = "pyarrow", marker = "extra == 'dataset'", specifier = ">=21.0.0,<30.0.0" }, { name = "pyarrow", marker = "extra == 'dataset'", specifier = ">=21.0.0,<30.0.0" },
@@ -4592,7 +4592,7 @@ wheels = [
[[package]] [[package]]
name = "placo" name = "placo"
version = "0.9.16" version = "0.9.15"
source = { registry = "https://pypi.org/simple" } source = { registry = "https://pypi.org/simple" }
dependencies = [ dependencies = [
{ name = "cmeel" }, { name = "cmeel" },
@@ -4602,16 +4602,16 @@ dependencies = [
{ name = "pin" }, { name = "pin" },
{ name = "rhoban-cmeel-jsoncpp" }, { name = "rhoban-cmeel-jsoncpp" },
] ]
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[[package]] [[package]]