Error while running on A100 server. I am trying to run basic demo in A100 server, but having problems due rendering and display.

[sudhirpratapyadav]

When I run python -m mani_skill2.examples.demo_random_action command. I get following error.

[2023-02-17 19:03:09.661] [svulkan2] [error] GLFW error: X11: The DISPLAY environment variable is missing
[2023-02-17 19:03:09.661] [svulkan2] [warning] Continue without GLFW.
Traceback (most recent call last):
  File "/opt/conda/lib/python3.8/runpy.py", line 194, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/opt/conda/lib/python3.8/runpy.py", line 87, in _run_code
    exec(code, run_globals)
  File "/workspace/sudhiry/rl_ws/ManiSkill2/mani_skill2/examples/demo_random_action.py", line 71, in <module>
    main()
  File "/workspace/sudhiry/rl_ws/ManiSkill2/mani_skill2/examples/demo_random_action.py", line 34, in main
    env: BaseEnv = gym.make(
  File "/opt/conda/lib/python3.8/site-packages/gym/envs/registration.py", line 235, in make
    return registry.make(id, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/gym/envs/registration.py", line 129, in make
    env = spec.make(**kwargs)
  File "/opt/conda/lib/python3.8/site-packages/gym/envs/registration.py", line 87, in make
    env = self.entry_point(**_kwargs)
  File "/workspace/sudhiry/rl_ws/ManiSkill2/mani_skill2/utils/registration.py", line 92, in make
    env = env_spec.make(**kwargs)
  File "/workspace/sudhiry/rl_ws/ManiSkill2/mani_skill2/utils/registration.py", line 34, in make
    return self.cls(**_kwargs)
  File "/workspace/sudhiry/rl_ws/ManiSkill2/mani_skill2/envs/pick_and_place/pick_cube.py", line 22, in __init__
    super().__init__(*args, **kwargs)
  File "/workspace/sudhiry/rl_ws/ManiSkill2/mani_skill2/envs/pick_and_place/base_env.py", line 27, in __init__
    super().__init__(*args, **kwargs)
  File "/workspace/sudhiry/rl_ws/ManiSkill2/mani_skill2/envs/sapien_env.py", line 110, in __init__
    self._renderer = sapien.SapienRenderer(**renderer_kwargs)
RuntimeError: Cannot find a suitable rendering device

How to run this in a headless mode, where redering is not required?

[Jiayuan-Gu]

It is usually due to the broken Vulkan driver. Can you try to run vulkaninfo to show whether the vulkan driver is working? (vulkaninfo can be installed through sudo apt-get install vulkan-utils)

If vulkaninfo fails to show the information about Vulkan, you need to create /usr/share/vulkan/icd.d/nvidia_icd.json and set the environment variable VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json.

The content of nvidia_icd.json:

{
    "file_format_version" : "1.0.0",
    "ICD": {
        "library_path": "libGLX_nvidia.so.0",
        "api_version" : "1.2.155"
    }
}

[fbxiang]

This should be a more comprehensive check.
haosulab/SAPIEN#115 (comment)

[Jiayuan-Gu]

Thank you for raising the issue. We have added more details about troubleshooting and documentation about how to use ManiSkill2 in a docker.