How can I visualize a simulation running inside a docker container

[BolunDai0216]

Hi,

I'm to use MuJoCo for running robotic simulations from a docker container on an M1 Macbook Pro. I'm looking for some help with visualizing the simulation on my host OS.

To reproduce the steps I took first, I opened XQuartz inside my MacOS, and opened a terminal and typed

xhost +

which gave me the output

access control disabled, clients can connect from any host

Then, I created the following Dockerfile

FROM ubuntu:latest  

RUN apt-get update
RUN apt-get install -y x11-apps x11-utils libx11-dev
RUN apt-get install -y python3-pip
RUN apt-get install -y git
RUN python3 -m pip install mujoco

WORKDIR /home
RUN git clone https://github.com/BolunDai0216/PyMuJoCoBase.git

WORKDIR /home/PyMuJoCoBase
RUN python3 -m pip install -e .

WORKDIR /home/PyMuJoCoBase/PyMuJoCoBase/examples

CMD bash

Then, I used the following command to build the docker image

docker build -t gui .

and I started a docker container using the command

docker run -it --net=host -e DISPLAY=docker.for.mac.host.internal:0 -v /tmp/.X11-unix:/tmp/.X11-unix:ro gui:latest

I first tested if I could connect to the host X11 server by running

xeyes

which gave me the following output

Then, I tried to run a simple MuJoCo simulation, which gives me the following error

root@docker-desktop:/home/PyMuJoCoBase/PyMuJoCoBase/examples# python3 example_control_pendulum.py
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
/usr/local/lib/python3.10/dist-packages/glfw/__init__.py:916: GLFWError: (65543) b'GLX: Failed to create context: BadValue (integer parameter out of range for operation)'
  warnings.warn(message, GLFWError)
/usr/local/lib/python3.10/dist-packages/glfw/__init__.py:916: GLFWError: (65538) b'Cannot set swap interval without a current OpenGL or OpenGL ES context'
  warnings.warn(message, GLFWError)
Traceback (most recent call last):
  File "/home/PyMuJoCoBase/PyMuJoCoBase/examples/example_control_pendulum.py", line 93, in <module>
    main()
  File "/home/PyMuJoCoBase/PyMuJoCoBase/examples/example_control_pendulum.py", line 87, in main
    sim = ContolPendulum(xml_path)
  File "/home/PyMuJoCoBase/PyMuJoCoBase/examples/example_control_pendulum.py", line 11, in __init__
    super().__init__(xml_path)
  File "/home/PyMuJoCoBase/PyMuJoCoBase/mujoco_base.py", line 30, in __init__
    self.context = mj.MjrContext(self.model, mj.mjtFontScale.mjFONTSCALE_150.value)
mujoco.FatalError: gladLoadGL error

running the same command inside MacOS gives me the following simulation

Any help with resolving the OpenGL issue in docker would be greatly appreciated!

Thanks in advance!

[Xi-HHHM]

Hi, having a similar issue here. Have you found the solution?

[BolunDai0216]

Hi, having a similar issue here. Have you found the solution?

Unfortunately I still have no idea how to get it to work on MacOS.

[BolunDai0216]

@Xi-HHHM For these two lines

libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast

the problem can be solved by running

export LIBGL_ALWAYS_INDIRECT=1
sudo apt-get install -y mesa-utils libgl1-mesa-glx

as shown in this post. However, I still do not know how to solve the problem of

/usr/local/lib/python3.10/dist-packages/glfw/__init__.py:914: GLFWError: (65543) b'GLX: Failed to create context: BadValue (integer parameter out of range for operation)'
  warnings.warn(message, GLFWError)
ERROR: could not create window

Press Enter to exit ...

This somehow feels like is due to the lack of an NVIDIA GPU, which if it is the case is not something we can deal with on MacOS.

[qingzew]

have you solved this problem?
I have the same problem

root@d0788adc72a4:/work/mujoco-3.2.2# ./bin/simulate
MuJoCo version 3.2.2
Plugins registered by library 'libactuator.so':
    mujoco.pid
Plugins registered by library 'libsdf.so':
    mujoco.sdf.bolt
    mujoco.sdf.bowl
    mujoco.sdf.gear
    mujoco.sdf.nut
    mujoco.sdf.torus
    mujoco.sdf.sdflib
Plugins registered by library 'libelasticity.so':
    mujoco.elasticity.cable
    mujoco.elasticity.membrane
    mujoco.elasticity.shell
    mujoco.elasticity.solid
Plugins registered by library 'libsensor.so':
    mujoco.sensor.touch_grid
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
ERROR: could not create window