Bug report (Unity build fails to start (UnityPlayer.so missing) )

[maramm221]

Describe the issue
I am trying to run RCareWorld following the instructions in the repository, but I am unable to start the simulator. The Python API (pyrcareworld) runs and waits for a Unity connection on port 5004. When I try to launch the Unity build (Player.x86_64), it fails with the error:

error while loading shared libraries: UnityPlayer.so: cannot open shared object file: No such file or directory

I do have the Player_Data folder, but the UnityPlayer.so file is missing. Could you please provide a proper guide for running the simulator, and clarify whether the full Unity build (including UnityPlayer.so) is available?

How To Reproduce
Clone the RcareWorld repo
Build and run the python environment inside ROS2 Jazzy container

Run the demo script:

python3 pyrcareworld/demo/examples/example_debug.py
Output: Waiting for connection on port 5004...

Then attempting to launch Unity executable:

./Player.x86_64
Output: error while loading shared libraries: UnityPlayer.so: cannot open shared object file: No such file or directory

Screenshots

Attempts towards solving the problem
Made sure all dependencies are installed.
Confirmed Player_Data folder exists.
Tried running Unity executable outside the container.
Still fails due to missing UnityPlayer.so

Environment

• System: Ubuntu 22.04 (university lab machine)
• Python: 3.12 inside ROS2 Jazzy container
• RCareWorld version: ae0900b

Additional Information
I am working on Ubuntu, but it would be helpful to know if the simulator is expected to run on Windows as well.

[YoruCathy]

Hi, instead of directly launching the Unity player from the command line, you should update the path to the Unity player in RCareWorld class in your script.

[maramm221]

Thanks for the quick response. I updated the path to the Unity player in the RCareWorld class as suggested, but the executable still fails because the file UnityPlayer.so is missing from the build. Without it, the process crashes immediately and shows up as <defunct> when checking with ps -ef. The Python side just waits for a connection on port 5005.

Could you please clarify:

• Is there a complete build available that includes UnityPlayer.so?
• Alternatively, could you provide a minimal test or snippet code that shows how the simulator is expected to run successfully?

[jack5544]

hello, could u send a copy of your example code? I cannot run the right example. maybe I should fix some bugs in these example, but I find myself cannot address this problem.

[maramm221]

Yes, I'm running the rcareworld/pyrcareworld/pyrcareworld/demo/examples/example_debug.py file
and I changed it a bit to do this as suggested:

"Hi, instead of directly launching the Unity player from the command line, you should update the path to the Unity player in RCareWorld class in your script."

and

I also fixed the last bit it was indented and gave me errors, so I just aligned it correctly.

when I run it I get waiting for connection of port 5005.

Here is the script:

from pyrcareworld.envs.base_env import RCareWorld

# Initialize the environment with the specified scene file
env = RCareWorld(
    executable_file="D://rcareworld/Build/Player.x86_64",
    scene_file="DebugScene.json"
    )

# Debug Grasp Point
env.DebugGraspPoint()
env.SendLog("DebugGraspPoint")
env.step(300)
env.DebugGraspPoint(False)

# Debug Object ID
env.DebugObjectID()
env.SendLog("DebugObjectID")
env.step(300)
env.DebugObjectID(False)

# Debug Object Pose
env.DebugObjectPose()
env.SendLog("DebugObjectPose")
env.step(300)
env.DebugObjectPose(False)

# Debug Collider Bound
env.DebugColliderBound()
env.SendLog("DebugColliderBound")
env.step(300)
env.DebugColliderBound(False)

# Debug Collision Pair
env.DebugCollisionPair()
env.SendLog("DebugCollisionPair")
env.step(300)
env.DebugCollisionPair(False)

# Debug 3D Bounding Box
env.Debug3DBBox()
env.SendLog("Debug3DBBox")
env.step(300)
env.Debug3DBBox(False)

# Debug 2D Bounding Box
env.Debug2DBBox()
env.SendLog("Debug2DBBox")
env.step(300)
env.Debug2DBBox(False)

# Debug Joint Link
env.DebugJointLink()
env.SendLog("DebugJointLink")
env.step(300)
env.DebugJointLink(False)

[gerardcanal]

Hello,
Just adding a MWE:

from pyrcareworld.envs.base_env import RCareWorld
env = RCareWorld()

I understand this should start the simulator window. However, when run, this just says:

Waiting for UnityEditor play...
Waiting for connections on port: 5004...

This happens regardless of whether the path to the executable file. And, when trying to run the player, it does say that:
./Build/Player.x86_64: error while loading shared libraries: UnityPlayer.so: cannot open shared object file: No such file or directory
However, UnityPlayer.so is not in the repository. It is my understanding this is generated when the Unity project is built, and should be shipped with the main executable. In Build/PlayerData there are a bunch of Windows .dll, but those are not very useful in Linux (and seems to also be missing the UnityPlayer).

The documentation has not been super useful, some tutorials would be beneficial to learn and see how to use the simulator. The website's FAQ has a link to https://www.notion.so/RCareWorld-Done-Right-5e88ef3b4bfe4d148e11d92492264510?pvs=4 in the "How can I learn to use RCareWorld", but the link seems to be down.

Many thanks for the support!