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MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.
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mujoco_py's MjSim doesn't render (Missing GL version) whereas gym's robotic env works fine #432

Open ghost opened 5 years ago

ghost commented 5 years ago

Describe the bug When I try mujoco_py's MjSim and try to render the simulator, I get the classic "ERROR: GLEW initalization error: Missing GL version" error which has been raised by many people, however I failed to find a solution that worked out for me. This is even stranger considering that my gym environments using mujoco work completely fine (see following picture). image

EDIT (comment on nvidia drivers) As you can see on my .bashrc config, I don't have any path to nvidia drivers. I don't see any nvidia drivers being installed in my /usr/lib folder (however, I have a /usr/src/nvidia-390.116 folder with the different patches from the installation?). It doesn't seem to be a problem because I can still run gym's robotic envs and run all my experiment on my GPU.

Here is the easiest code to reproduce the error I get. To Reproduce import mujoco_py import os mjpath, = mujoco_py.utils.discover_mujoco() print(mj_path) xml_path = os.path.join(mj_path, 'model', 'humanoid.xml') model = mujoco_py.load_model_from_path(xml_path) sim = mujoco_py.MjSim(model) print(sim.data.qpos) sim.step() print(sim.data.qpos) sim.render()

Error Messages /home/usernmame/.mujoco/mujoco200 [0. 0. 1.4 1. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.

                    1. ] [-1.12164337e-05 7.29847036e-22 1.39975300e+00 9.99999999e-01 1.80085466e-21 4.45933954e-05 -2.70143345e-20 1.30126513e-19 -4.63561234e-05 -1.88020744e-20 -2.24492958e-06 4.79357124e-05 -6.38208396e-04 -1.61130312e-03 -1.37554006e-03 5.54173825e-05 -2.24492958e-06 4.79357124e-05 -6.38208396e-04 -1.61130312e-03 -1.37554006e-03 -5.54173825e-05 -5.73572648e-05 7.63833991e-05 -2.12765194e-05 5.73572648e-05 -7.63833991e-05 -2.12765194e-05] ERROR: GLEW initalization error: Missing GL version

Desktop (please complete the following information):

export PATH=$PATH:/usr/local/cuda-9.0/bin export LD_LIBRARY_PATH=/home/username/.mujoco/mujoco200/bin export LD_LIBRARY_PATH=/usr/local/cuda-9.0/lib64:$LD_LIBRARY_PATH export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so:/usr/lib/x86_64-linux-gnu/libGL.so export MUJOCO_LICENSE_PATH=$HOME/.mujoco/mjkey.txt

Additional context I also tried using the 150 version of Mujoco paired with 1.50 version of mujoco_py but this lead to exactly the same problem. Thanks for your help!! Let me know if I missed anything worth mentioning to debug this.

ZiwenZhuang commented 5 years ago

Have you checked your OpenGL version? It seems like the pyopengl only supports OpenGL version v1.1 to 4.4 (refer to here), although based on your Cuda version, that should not be the problem

ghost commented 5 years ago

Have you checked your OpenGL version? It seems like the pyopengl only supports OpenGL version v1.1 to 4.4 (refer to here), although based on your Cuda version, that should not be the problem

Thanks for your answer! Just checked, and it seems my OpenGL is too recent? OpenGL version string: 4.6.0 NVIDIA 390.116

Should I downgrade my OpenGL?

ZiwenZhuang commented 5 years ago

Have you checked your OpenGL version? It seems like the pyopengl only supports OpenGL version v1.1 to 4.4 (refer to here), although based on your Cuda version, that should not be the problem

Thanks for your answer! Just checked, and it seems my OpenGL is too recent? OpenGL version string: 4.6.0 NVIDIA 390.116

Should I downgrade my OpenGL?

Thank you for the version string. I thought the Nvidia driver version and OpenGL version are connected. That is only a guess based on what I have searched. I haven't tried that yet because I was worrying about reinstalling not only OpenGL, but also Nvidia driver and Cuda. Now, it seems like it is only needed to downgrade the OpenGL version.

BTW: Have you encountered with other programs which use OpenGL under current settings?

ghost commented 5 years ago

Have you checked your OpenGL version? It seems like the pyopengl only supports OpenGL version v1.1 to 4.4 (refer to here), although based on your Cuda version, that should not be the problem

Thanks for your answer! Just checked, and it seems my OpenGL is too recent? OpenGL version string: 4.6.0 NVIDIA 390.116 Should I downgrade my OpenGL?

Thank you for the version string. I thought the Nvidia driver version and OpenGL version are connected. That is only a guess based on what I have searched. I haven't tried that yet because I was worrying about reinstalling not only OpenGL, but also Nvidia driver and Cuda. Now, it seems like it is only needed to downgrade the OpenGL version.

BTW: Have you encountered with other programs which use OpenGL under current settings?

thanks again for the time :) No i've never seen OpenGL give any problem. This is still weird that when I'm using gym (that uses mujoco) I don't have any problem (see above pic), and this only happens when using the MjSim from mujoco_py.
By the way, I did not have the pyopengl package but it didn't seem to be a problem before, it doesn't look like mujoco_py was depending on it. If I can dowgrade the OpenGL version without changing the drivers that would be perfect, i'll try that and keep you updated on that.

pvskand commented 5 years ago

@PierreAlexSW any update on this?