Merge branch 'master' of https://github.com/wty-yy/RoboGauge

README.md

@@ -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)

robogauge/scripts/run.py

@@ -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"
 

robogauge/scripts/server.py

@@ -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"