[CI] Fix gym rendering issues

Author: vmoens

.github/unittest/linux_libs/scripts_gym/10_nvidia.json

@@ -0,0 +1,6 @@
+{
+    "file_format_version" : "1.0.0",
+    "ICD" : {
+        "library_path" : "libEGL_nvidia.so.0"
+    }
+} 

.github/unittest/linux_libs/scripts_gym/run_test.sh

@@ -18,12 +18,22 @@ lib_dir="${env_dir}/lib"
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$lib_dir
 export MKL_THREADING_LAYER=GNU
 
+# Start Xvfb with specific OpenGL configuration
+export DISPLAY=:99
+Xvfb :99 -screen 0 1400x900x24 -ac +extension GLX +render -noreset > /dev/null 2>&1 &
+sleep 3  # Give Xvfb time to start
+
+# Verify OpenGL/EGL setup
+glxinfo -B || true
+echo "EGL_PLATFORM=$EGL_PLATFORM"
+echo "MUJOCO_GL=$MUJOCO_GL"
+echo "PYOPENGL_PLATFORM=$PYOPENGL_PLATFORM"
+
+# Run the tests
 python .github/unittest/helpers/coverage_run_parallel.py -m pytest test/smoke_test.py -v --durations 200
 python .github/unittest/helpers/coverage_run_parallel.py -m pytest test/smoke_test_deps.py -v --durations 200 -k 'test_gym'
 
 unset LD_PRELOAD
-export DISPLAY=:99
-Xvfb :99 -screen 0 1400x900x24 > /dev/null 2>&1 &
 python .github/unittest/helpers/coverage_run_parallel.py -m pytest test/test_libs.py --instafail -v --durations 200 -k "gym and not isaac" --error-for-skips --mp_fork
 coverage combine
 coverage xml -i

.github/unittest/linux_libs/scripts_gym/setup_env.sh

@@ -5,14 +5,28 @@
 #
 # Do not install PyTorch and torchvision here, otherwise they also get cached.
 
+unset PYTORCH_VERSION
+# For unittest, nightly PyTorch is used as the following section,
+# so no need to set PYTORCH_VERSION.
+# In fact, keeping PYTORCH_VERSION forces us to hardcode PyTorch version in config.
+apt-get update && apt-get install -y \
+    git wget gcc g++ \
+    libglfw3 libgl1-mesa-glx libosmesa6 libglew-dev \
+    libglvnd0 libgl1 libglx0 libegl1 libgles2 \
+    xvfb libegl-dev libx11-dev freeglut3-dev \
+    mesa-utils mesa-common-dev \
+    libsdl2-dev libsdl2-2.0-0
+
 set -e
+set -v
 
 this_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
-# Avoid error: "fatal: unsafe repository"
-apt-get update && apt-get install -y git wget gcc g++
-apt-get install -y libglfw3 libgl1-mesa-glx libosmesa6 libglew-dev libsdl2-dev libsdl2-2.0-0
-apt-get install -y libglvnd0 libgl1 libglx0 libegl1 libgles2 xvfb libegl-dev libx11-dev freeglut3-dev
 
+# Setup EGL
+mkdir -p /usr/share/glvnd/egl_vendor.d
+cp $this_dir/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
+# Avoid error: "fatal: unsafe repository"
 git config --global --add safe.directory '*'
 root_dir="$(git rev-parse --show-toplevel)"
 conda_dir="${root_dir}/conda"
@@ -79,13 +93,15 @@ conda env config vars set \
   SDL_VIDEODRIVER=dummy \
   DISPLAY=:99 \
   PYOPENGL_PLATFORM=egl \
-  LD_PRELOAD=$glew_path \
+  __GLX_VENDOR_LIBRARY_NAME=nvidia \
+  MESA_GL_VERSION_OVERRIDE=3.3 \
+  EGL_PLATFORM=x11 \
+  LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so:/usr/lib/x86_64-linux-gnu/libGL.so \
   NVIDIA_PATH=/usr/src/nvidia-470.63.01 \
   MUJOCO_PY_MJKEY_PATH=${root_dir}/mujoco-py/mujoco_py/binaries/mjkey.txt \
   MUJOCO_PY_MUJOCO_PATH=${root_dir}/mujoco-py/mujoco_py/binaries/linux/mujoco210 \
-  LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/pytorch/rl/mujoco-py/mujoco_py/binaries/linux/mujoco210/bin
+  LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/pytorch/rl/mujoco-py/mujoco_py/binaries/linux/mujoco210/bin \
   TOKENIZERS_PARALLELISM=true
-#  LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/circleci/project/mujoco-py/mujoco_py/binaries/linux/mujoco210/bin
 
 # make env variables apparent
 conda deactivate && conda activate "${env_dir}"

.github/unittest/linux_olddeps/scripts_gym_0_13/run_test.sh

@@ -22,12 +22,20 @@ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/pytorch/rl/mujoco-py/mujoco_py/binaries
 export MKL_THREADING_LAYER=GNU
 export BATCHED_PIPE_TIMEOUT=60
 
+# Start Xvfb with specific OpenGL configuration
+export DISPLAY=:99
+Xvfb :99 -screen 0 1400x900x24 -ac +extension GLX +render -noreset > /dev/null 2>&1 &
+sleep 3  # Give Xvfb time to start
+
+# Verify OpenGL/EGL setup
+glxinfo -B || true
+echo "EGL_PLATFORM=$EGL_PLATFORM"
+echo "MUJOCO_GL=$MUJOCO_GL"
+echo "PYOPENGL_PLATFORM=$PYOPENGL_PLATFORM"
+
 python .github/unittest/helpers/coverage_run_parallel.py -m pytest test/smoke_test.py -v --durations 200
 python .github/unittest/helpers/coverage_run_parallel.py -m pytest test/smoke_test_deps.py -v --durations 200 -k 'test_gym'
 
-export DISPLAY=:99
-Xvfb :99 -screen 0 1400x900x24 > /dev/null 2>&1 &
-
 CKPT_BACKEND=torch MUJOCO_GL=egl python .github/unittest/helpers/coverage_run_parallel.py -m pytest \
     --instafail -v \
     --durations 200 \

.github/unittest/linux_olddeps/scripts_gym_0_13/setup_env.sh

@@ -8,27 +8,45 @@
 set -e
 set -v
 
+# Make apt-get non-interactive
+export DEBIAN_FRONTEND=noninteractive
+# Pre-configure timezone data
+ln -fs /usr/share/zoneinfo/UTC /etc/localtime
+echo "UTC" > /etc/timezone
+
 this_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 apt-get update && apt-get upgrade -y
-printf "* Installing vim - git - wget\n"
-apt-get install -y vim git wget
-
-printf "* Installing glfw - glew - osmesa part 1\n"
-apt-get install -y libglvnd0 libgl1 libglx0 libegl1 libgles2 xvfb libx11-dev libegl-dev
-
-#printf "* Installing glfw - glew - osmesa part 2\n"
-#apt-get install -y libglfw3 libgl1-mesa-glx libosmesa6 libglew-dev libsdl2-dev libsdl2-2.0-0
+printf "* Installing build dependencies\n"
+apt-get install -y vim git wget build-essential
+
+printf "* Installing OpenGL and related packages\n"
+apt-get install -y \
+    libglvnd0 libgl1 libglx0 libegl1 libgles2 \
+    xvfb libx11-dev libegl-dev \
+    libglfw3 libgl1-mesa-glx libosmesa6 \
+    libglew-dev libglew2.1 \
+    mesa-utils mesa-common-dev \
+    libgl1-mesa-dev libglu1-mesa-dev \
+    libsdl2-dev libsdl2-2.0-0
 
 if [ "${CU_VERSION:-}" == cpu ] ; then
   # solves version `GLIBCXX_3.4.29' not found for tensorboard
-#    apt-get install -y gcc-4.9
   apt-get upgrade -y libstdc++6
   apt-get dist-upgrade -y
 else
   apt-get install -y g++ gcc
 fi
 
+# Setup EGL
+mkdir -p /usr/share/glvnd/egl_vendor.d
+echo '{
+    "file_format_version" : "1.0.0",
+    "ICD" : {
+        "library_path" : "libEGL_nvidia.so.0"
+    }
+}' > /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
 git config --global --add safe.directory '*'
 root_dir="$(git rev-parse --show-toplevel)"
 conda_dir="${root_dir}/conda"
@@ -98,9 +116,12 @@ conda env config vars set \
   MAX_IDLE_COUNT=1000 \
   MUJOCO_GL=egl \
   SDL_VIDEODRIVER=dummy \
-  DISPLAY=unix:0.0 \
+  DISPLAY=:99 \
   PYOPENGL_PLATFORM=egl \
-  LD_PRELOAD=$glew_path \
+  __GLX_VENDOR_LIBRARY_NAME=nvidia \
+  MESA_GL_VERSION_OVERRIDE=3.3 \
+  EGL_PLATFORM=x11 \
+  LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so:/usr/lib/x86_64-linux-gnu/libGL.so \
   NVIDIA_PATH=/usr/src/nvidia-470.63.01 \
   MUJOCO_PY_MJKEY_PATH=${root_dir}/mujoco-py/mujoco_py/binaries/mjkey.txt \
   MUJOCO_PY_MUJOCO_PATH=${root_dir}/mujoco-py/mujoco_py/binaries/linux/mujoco210 \