How to test/run OpenGL visualization?

Hi,

I installed dm_control yesterday on an Ubuntu 16.04LTS system with NVIDIA graphics card. I have already installed --and work with-- mjpro150 and 131 (both mujoco-py and custom C++ interface) so I know those work fine.

I created the following “quickstart” script, using the provided one in the README:

import numpy as np
from dm_control import suite
# Load one task:
env = suite.load(domain_name="humanoid", task_name="stand", visualize_reward=True)
# Iterate over a task set:
for domain_name, task_name in suite.BENCHMARKING:
    env = suite.load(domain_name, task_name)
# Reset data
action_spec = env.action_spec()
time_step = env.reset()
# Step through an episode and print out reward, discount and observation.
while not time_step.last():
    action = np.random.uniform(action_spec.minimum,
                             action_spec.maximum,
                             size=action_spec.shape)
    time_step = env.step(action)
    pixels = env.physics.render()
    print(time_step.reward, time_step.discount, time_step.observation)

It “seems” to run since the print() call in the loop does indeed output such as:

0.9902381173079999 1.0 OrderedDict([('orientations', array([ 0.92190494, -0.38741616,  0.75086908, -0.66045108,  0.34782824,
        0.93755827,  0.01050299,  0.99994484, -0.34440243, -0.93882211,
       -0.02782136, -0.99961291,  0.52972116, -0.84817185])), ('height', 1.2930647420729058), ('velocity', array([ -0.49068857,   0.54707421,   2.52160751,   4.02860209,
        -1.37774209,  -4.43418408,   9.91898924, -14.24762728,
         0.23987449]))])

However, the MuJoCo OpenGL visualization never starts.

To get set-up, I created a virtualenv environment from scratch with python 3.5.2 as default (via PyCharm).

Also, I have to report that there is no Ubuntu package for libglew2.0 via apt-get on 16.04LTS. I had to download it from here and I not sure if this was the proper solution. I would appreciate it if someone who got it to work on Ubuntu 16.04 can report their steps.

Cheers,

Vassilios

[saran-t]

Apparently libglew2.0 doesn’t exist until zesty (i.e. Ubuntu 17). For xenial (i.e. 16.04LTS) you can use libglew1.13 instead, see https://packages.ubuntu.com/search?keywords=libglew

The libglfw3 package should work in all recent versions of Ubuntu. Alternatively, as @efagerho suggested you can also install the -dev packages which will also pull in headers too, but this shouldn’t be necessary.

[NPC-Wang]

import matplotlib.pyplot as plt … plt.imshow(env.physics.render(height, width, camera_id=0)) plt.show(block=False) plt.pause(.01)

any news?