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v1.1.1-rc2; add headless MUJOCO_GL config

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wty-yy
2026-01-27 12:42:39 +08:00
parent 493fa04341
commit 1a2cb14da3
3 changed files with 23 additions and 2 deletions
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5
README.md
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@@ -105,3 +105,8 @@ pip install -e .
![robogauge_levelpipeline](./assets/robogauge_levelpipeline.png)
## 可能的报错
### Mujoco OpenGL Context Error
```mujoco.FatalError: an OpenGL platform library has not been loaded into this process, this most likely means that a valid OpenGL context has not been created before mjr_makeContext was called```
问题原因: Mujoco在无头模式下无法创建OpenGL上下文
解决方案: 在`robogauge/scripts/run.py`和`robogauge/scripts/server.py`中, 将`os.environ['MUJOCO_GL']`设置为`egl`(GPU)或`osmesa`(CPU, 慢)

10
robogauge/scripts/run.py
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@@ -8,7 +8,15 @@
@Desc : Run Robogauge Pipeline
'''
import os
os.environ['MUJOCO_GL'] = 'glfw' # avoid mujoco.Renderer EGL context error
# Headless solution for mujoco
# For GPU
# os.environ['MUJOCO_GL'] = 'egl'
# For CPU (Slow)
# os.environ['MUJOCO_GL'] = 'osmesa'
# With a graphical user interface (GUI)
os.environ['MUJOCO_GL'] = 'glfw'
os.environ["OMP_NUM_THREADS"] = "1"
os.environ["MKL_NUM_THREADS"] = "1"

10
robogauge/scripts/server.py
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@@ -8,7 +8,15 @@
@Desc : Asynchronous stress pipeline evaluation server
'''
import os
os.environ['MUJOCO_GL'] = 'glfw' # avoid mujoco.Renderer EGL context error
# Headless solution for mujoco
# For GPU
# os.environ['MUJOCO_GL'] = 'egl'
# For CPU (Slow)
# os.environ['MUJOCO_GL'] = 'osmesa'
# With a graphical user interface (GUI)
os.environ['MUJOCO_GL'] = 'glfw'
os.environ["OMP_NUM_THREADS"] = "1"
os.environ["MKL_NUM_THREADS"] = "1"