Docker Troubleshooting

MuJoCo: Cannot initialize a headless EGL display

Error message:

ImportError: Cannot initialize a headless EGL display."
This issue is due to that the docker could not find the `EGL` engine for rendering.

You can manually set environment variables in docker:

export MUJOCO_GL=egl
export PYOPENGL_PLATFORM=egl
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6

Otherwise, you can add these environment variables in the startup command of the docker image:

docker run -it --gpus all \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v /dev/dri:/dev/dri \
-v /usr/share/vulkan/icd.d:/usr/share/vulkan/icd.d:ro \
-v /usr/share/vulkan/implicit_layer.d:/usr/share/vulkan/implicit_layer.d:ro \
-e NVIDIA_VISIBLE_DEVICES=all \
-e NVIDIA_DRIVER_CAPABILITIES=all \
-e XDG_RUNTIME_DIR=/run/user/$(id -u) \
-e MUJOCO_GL=egl \
-e PYOPENGL_PLATFORM=egl \
-e LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 \
your_image_name /bin/bash

IsaacLab: Failed to create any GPU devices

Error message:

[omni.gpu_foudation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.

This problem is due to incorrect startup method of docker images and the docker cannot access the phsical GPUs in the host.

Save the running docker container to the docker images.

docker ps -a

docker commit your_container_id your_image_name

Rerun the image by following setting, which allows the docker to call the physical GPUs in the host.

docker run -it --gpus all \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v /dev/dri:/dev/dri \
-v /usr/share/vulkan/icd.d:/usr/share/vulkan/icd.d:ro \
-v /usr/share/vulkan/implicit_layer.d:/usr/share/vulkan/implicit_layer.d:ro \
-e NVIDIA_VISIBLE_DEVICES=all \
-e NVIDIA_DRIVER_CAPABILITIES=all \
-e XDG_RUNTIME_DIR=/run/user/$(id -u) \
your_image_name /bin/bash