pyrender_woscreen_install.md

1. Install pyrender

pip install pyrender

2. Install osmesa

sudo apt update
sudo wget https://github.com/mmatl/travis_debs/raw/master/xenial/mesa_18.3.3-0.deb
sudo dpkg -i ./mesa_18.3.3-0.deb || true
sudo apt install -f

3. Install a compatible pyopengl

git clone https://github.com/mmatl/pyopengl.git
pip install ./pyopengl

4. Remember to set the environment as osmesa by putting this at the beginning of your code:

import os
os.environ["PYOPENGL_PLATFORM"] = "osmesa"
os.environ["MUJOCO_GL"] = "osmesa"

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You should be able to work with pyrender now. The above instructions are from https://pyrender.readthedocs.io/en/latest/install/index.html#getting-pyrender-working-with-osmesa