[Question] Off-screen rendering results in `ERROR: GLEW initalization error: Missing GL version`

[hermanjakobsen]

For instance, creating the environment

env = robosuite.make(
    'Lift',
    robots='Panda',
    gripper_types="PandaGripper",
)

gives the mentioned error. The environment renders fine, however, using on-screen rendering

env_test = suite.make(
    'Lift',
    robots='Panda',
    gripper_types="PandaGripper",
    has_renderer=True,
    has_offscreen_renderer=False,
    use_camera_obs=False,
    use_object_obs=False
)

I have checked out the issues in the mujoco-py repo and it looks like this is a known problem with mujoco-py. My question is: Do you guys know of any workaround to make off-screen rendering work? I have tried the tips given in the linked issue without any luck :(

[yukezhu]

Hi @hermanjakobsen can you let us know your system runtime, like your OS and Python version? Thanks.

[hermanjakobsen]

OS: Ubuntu 20.04.1 LTS Python version: Python 3.8.2 I tried to use pdb to debug, but I could not find any useful information from the stacktrace. If it is of any interest, my LD_LIBRARY_PATH is set to the following in ~/.bashrc

export LD_LIBRARY_PATH=$WEBOTS_HOME/lib  # Add the Webots libraries to the library path (useful when launching Webots directly without using the launcher).
export LD_LIBRARY_PATH=/usr/lib/cuda/lib64:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/lib/cuda/include:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hermankj/.mujoco/mujoco200/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hermankj/.mujoco/mjpro150/bin
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so:/usr/lib/x86_64-linux-gnu/libGL.so

[cremebrule]

I don't think I've run into this issue before. Have you tried updating some of the packages, as suggested in this comment here?

[hermanjakobsen]

Yes, I have tried it without any luck ://

[cremebrule]

Hmm, unfortunately none of our team is directly able to replicate the issue -- Ubuntu 20.04 is relatively new, and we officially support 16.04 / 18.04, and MacOS since that is what our team uses. Is there any way you might be able to test on an earlier distro of Ubuntu? I would also suggest posting this issue on the mujoco-py repo as it sounds like an issue directly related to mujoco.

[hermanjakobsen]

I will try to look into it! Thank you for your help and time :)

[HeegerGao]

Hi, I have come to the same issue. When I use on_screen renderer, it works normally:

suite.make(
    **config,
    has_renderer=True,
    reward_shaping=True,
    render_camera='agentview',
    has_offscreen_renderer=False,
    use_camera_obs=False,
    hard_reset=False
    )

But when I use off_screen renderer, it shows 'ERROR: GLEW initalization error: Missing GL version':

suite.make(
    **env_config,
    has_renderer=False,  # no on-screen renderer
    has_offscreen_renderer=True,  # off-screen renderer is required for camera observations
    ignore_done=True,  # (optional) never terminates episode
    use_camera_obs=True,  # use camera observations
    camera_heights=84,  # set camera height
    camera_widths=84,  # set camera width
    camera_names="agentview",  # use "agentview" camera
    use_object_obs=False,  # no object feature when training on pixels
    reward_shaping=True,  # (optional) using a shaping reward
)

Do you have any ideas?

[hermanjakobsen]

@HeegerGao, could you state your system runtime? It might be useful information for @cremebrule.

[HeegerGao]

OK. I am using Ubuntu 18.04. The error message is like this:

ERROR: GLEW initalization error: Missing GL version

Press Enter to exit ...

[HeegerGao]

And I am using mujoco200

[HeegerGao]

Hi, I think I have solved this problem, though I am not quite sure about the principle behind it.

I found the same issue in mujoco-py. They said we should do as following:

In Ubuntu 18.04.3 LTS:
sudo mkdir -p /usr/lib/nvidia-000
Then add this in ~/.bashrc file:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia-000

The I run my code again. It starts compiling mujoco_py/cymj.pyx and cythonizing mujoco_py/cymj.pyx, and after a while, it starts running normally.

According to the discussion in the issue, the problem may come from a too higher version of OpenGL.

That's my solution, and I would appreciate it if you can explain the principle behind it. Thank you!

[cremebrule]

Hi HeegerGao,

Unfortunately, we don't have much control over the mujoco-py backend -- we've always had issues with the renderer specifically as well, which are still unsolved to date. So this sounds like one of those issues you simply have to find a workaround for :/

We do have some alternative rendering options in the works, so I would stay tuned for some updates in the near future!

[xu-george]

add the following lines on the base.py, could solve the problem for me

        if self.sim._render_context_offscreen is None:
            from mujoco_py import GlfwContext
            GlfwContext(offscreen=True)
            render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
            self.sim.add_render_context(render_context)
        self.sim._render_context_offscreen.vopt.geomgroup[0] = (1 if self.r

[kaixindelele]

add the following lines on the base.py, could solve the problem for me

        if self.sim._render_context_offscreen is None:
            from mujoco_py import GlfwContext
            GlfwContext(offscreen=True)
            render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
            self.sim.add_render_context(render_context)
        self.sim._render_context_offscreen.vopt.geomgroup[0] = (1 if self.r

hi, the code is not complete~

[xu-george]

add the following lines on the base.py, could solve the problem for me

        if self.sim._render_context_offscreen is None:
            from mujoco_py import GlfwContext
            GlfwContext(offscreen=True)
            render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
            self.sim.add_render_context(render_context)
        self.sim._render_context_offscreen.vopt.geomgroup[0] = (1 if self.r

hi, the code is not complete~ compare with original code, just one line is added