ARM wheel issues

[green-br]

System:
Not able to install

Describe the bug
Using the nightly wheel for Arm/aarch64 I see the following when using inside a container based on Ubuntu 22.04

ImportError: /lib/aarch64-linux-gnu/libpthread.so.0: version `GLIBC_PRIVATE' not found (required by /opt/robot/venv/lib/python3.10/site-packages/sapien/../sapien.libs/librt-2-4cc790af.28.so)

To Reproduce
Steps to reproduce the behavior (use pastebin for code):

1. Install aarch64 in a container based on Ubuntu 22.04
2. Try using the library.

Expected behavior
Not to see the error.

Screenshots
None

Additional context
This is part of a bigger install for RoboTwin software.

[green-br]

Currently trying to build from source but I assume it might be built in a container based on Redhat derivative and expects a slightly different Glibc?

[green-br]

Looking at manylinux I see GLIBC_PRIVATE in 2_28 in /usr/lib64/libpthread.so.0 but in 2_34 version I don't see it e.g.:

$ podman run quay.io/pypa/manylinux_2_34_aarch64:latest bash
[root@d99afcfcb110 /]# readelf --dyn-syms /usr/lib64/libpthread.so.0

Symbol table '.dynsym' contains 17 entries:
   Num:    Value          Size Type    Bind   Vis      Ndx Name
     0: 0000000000000000     0 NOTYPE  LOCAL  DEFAULT  UND 
     1: 00000000000006d0     0 SECTION LOCAL  DEFAULT   11 .init
     2: 0000000000020010     0 SECTION LOCAL  DEFAULT   24 .bss
     3: 0000000000000000     0 NOTYPE  WEAK   DEFAULT  UND _ITM_deregisterT[...]
     4: 0000000000000000     0 FUNC    WEAK   DEFAULT  UND _[...]@GLIBC_2.17 (7)
     5: 0000000000000000     0 NOTYPE  WEAK   DEFAULT  UND __gmon_start__
     6: 0000000000000000     0 NOTYPE  WEAK   DEFAULT  UND _ITM_registerTMC[...]
     7: 0000000000000000     0 OBJECT  GLOBAL DEFAULT  ABS GLIBC_2.28
     8: 0000000000000820     4 FUNC    GLOBAL DEFAULT   13 __lib[...]@GLIBC_2.28
     9: 0000000000000820     4 FUNC    GLOBAL DEFAULT   13 __lib[...]@GLIBC_2.17
    10: 0000000000000820     4 FUNC    GLOBAL DEFAULT   13 __lib[...]@GLIBC_2.30
    11: 0000000000000820     4 FUNC    GLOBAL DEFAULT   13 __lib[...]@GLIBC_2.18
    12: 0000000000000820     4 FUNC    GLOBAL DEFAULT   13 __lib[...]@GLIBC_2.31
    13: 0000000000000000     0 OBJECT  GLOBAL DEFAULT  ABS GLIBC_2.17
    14: 0000000000000000     0 OBJECT  GLOBAL DEFAULT  ABS GLIBC_2.18
    15: 0000000000000000     0 OBJECT  GLOBAL DEFAULT  ABS GLIBC_2.30
    16: 0000000000000000     0 OBJECT  GLOBAL DEFAULT  ABS GLIBC_2.31

Looks like maybe 2_34 in arm.Dockerfile would work better?

[fbxiang]

I am not familiar with the ARM ecosystem and I have only made sure SAPIEN compiles under ARM. I also could not find a way to produce a manylinux wheel for ARM (and that is why it is not published to pypi).
Does compiling under the 2_34 image make it work for you? If so, I can probably upgrade to that image.
You can also submit a PR If you found some fixes to make SAPIEN run better under ARM.