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Adds torch hook to export libgomp.so.1 from installed torch #3512

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Sep 24, 2025
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Adds torch hook to export libgomp.so.1 from installed torch #3512

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40 changes: 40 additions & 0 deletions isaaclab.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -247,6 +247,45 @@ install_isaaclab_extension() {
fi
}

# Resolve Torch-bundled libgomp and prepend to LD_PRELOAD, once per shell session
write_torch_gomp_hooks() {
mkdir -p "${CONDA_PREFIX}/etc/conda/activate.d" "${CONDA_PREFIX}/etc/conda/deactivate.d"
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@kellyguo11 kellyguo11 Sep 22, 2025

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is this required? looks like it's already done earlier in the script

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@ooctipus ooctipus Sep 22, 2025 •
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this is like a exist_ok check,
so it doesn't assume such file always exist, but if exist, do nothing.

this line makes function a bit more self contained and readable is my judge.


# activation: resolve Torch's libgomp via this env's Python and prepend to LD_PRELOAD
cat > "${CONDA_PREFIX}/etc/conda/activate.d/torch_gomp.sh" <<'EOS'
# Resolve Torch-bundled libgomp and prepend to LD_PRELOAD (quiet + idempotent)
: "${_IL_PREV_LD_PRELOAD:=${LD_PRELOAD-}}"

__gomp="$("$CONDA_PREFIX/bin/python" - <<'PY' 2>/dev/null || true
import pathlib
try:
import torch
p = pathlib.Path(torch.__file__).parent / 'lib' / 'libgomp.so.1'
print(p if p.exists() else "", end="")
except Exception:
pass
PY
)"

if [ -n "$__gomp" ] && [ -r "$__gomp" ]; then
case ":${LD_PRELOAD:-}:" in
*":$__gomp:"*) : ;; # already present
*) export LD_PRELOAD="$__gomp${LD_PRELOAD:+:$LD_PRELOAD}";;
esac
fi
unset __gomp
EOS

# deactivation: restore original LD_PRELOAD
cat > "${CONDA_PREFIX}/etc/conda/deactivate.d/torch_gomp_unset.sh" <<'EOS'
# restore LD_PRELOAD to pre-activation value
if [ -v _IL_PREV_LD_PRELOAD ]; then
export LD_PRELOAD="$_IL_PREV_LD_PRELOAD"
unset _IL_PREV_LD_PRELOAD
fi
EOS
}

# setup anaconda environment for Isaac Lab
setup_conda_env() {
# get environment name from input
Expand Down Expand Up @@ -311,6 +350,7 @@ setup_conda_env() {
'export RESOURCE_NAME="IsaacSim"' \
'' > ${CONDA_PREFIX}/etc/conda/activate.d/setenv.sh

write_torch_gomp_hooks
# check if we have _isaac_sim directory -> if so that means binaries were installed.
# we need to setup conda variables to load the binaries
local isaacsim_setup_conda_env_script=${ISAACLAB_PATH}/_isaac_sim/setup_conda_env.sh
Expand Down