Noisy or unreadable images when rendering
See original GitHub issueHi!
In some instances (embodied algos in my case) the new mujoco rendering gives unreadable images after a little while, e.g. here’s a grid of 3 views of the same body:
This occurs after a little while, i.e. the first images rendered are perfectly fine. I tried to narrow it down to a minimal reproductible example but I can’t find a way to do it (sorry about that!) When using the old bindings (mujoco-py and such) thiis issue disappears.
I’m using MUJOCO_GL=egl
and have installed glew in my conda (working on a cluster where I have no sudo access).
I’m working with either G100 or A100 GPUs, and using them for training and rendering. Also to mention: I’m running a bunch of envs in parallel (not multithrerad but multiprocessing) for fast collection of data.
Here is my conda env
# packages in environment at /fsx/users/vmoens/conda/envs/rl4:
#
# Name Version Build Channel
_libgcc_mutex 0.1 conda_forge conda-forge
_openmp_mutex 4.5 2_gnu conda-forge
_tflow_select 2.3.0 mkl
absl-py 1.0.0 pyhd8ed1ab_0 conda-forge
aiohttp 3.8.1 py39hb9d737c_1 conda-forge
aiosignal 1.2.0 pyhd8ed1ab_0 conda-forge
ale-py 0.7.5 pypi_0 pypi
alsa-lib 1.2.6.1 h7f98852_0 conda-forge
anyio 3.6.1 pypi_0 pypi
aom 3.3.0 h27087fc_1 conda-forge
argon2-cffi 21.3.0 pyhd8ed1ab_0 conda-forge
argon2-cffi-bindings 21.2.0 py39hb9d737c_2 conda-forge
astor 0.8.1 pyh9f0ad1d_0 conda-forge
asttokens 2.0.5 pyhd8ed1ab_0 conda-forge
astunparse 1.6.3 pyhd8ed1ab_0 conda-forge
async-timeout 4.0.2 pyhd8ed1ab_0 conda-forge
atari-py 0.2.9 pypi_0 pypi
attr 2.5.1 h166bdaf_0 conda-forge
attrs 21.4.0 pyhd8ed1ab_0 conda-forge
autorom 0.4.2 pypi_0 pypi
autorom-accept-rom-license 0.4.2 pypi_0 pypi
babel 2.10.1 pypi_0 pypi
backcall 0.2.0 pyh9f0ad1d_0 conda-forge
backports 1.0 py_2 conda-forge
backports.functools_lru_cache 1.6.4 pyhd8ed1ab_0 conda-forge
beautifulsoup4 4.11.1 pyha770c72_0 conda-forge
blas 1.0 mkl
bleach 5.0.0 pyhd8ed1ab_0 conda-forge
blinker 1.4 py_1 conda-forge
brotlipy 0.7.0 py39hb9d737c_1004 conda-forge
bzip2 1.0.8 h7f98852_4 conda-forge
c-ares 1.18.1 h7f98852_0 conda-forge
ca-certificates 2022.5.18.1 ha878542_0 conda-forge
cachetools 5.2.0 pypi_0 pypi
certifi 2022.5.18.1 pypi_0 pypi
cffi 1.15.0 py39h4bc2ebd_0 conda-forge
charset-normalizer 2.0.12 pyhd8ed1ab_0 conda-forge
click 8.1.3 py39hf3d152e_0 conda-forge
cloudpickle 1.2.2 pypi_0 pypi
configargparse 1.5.3 pypi_0 pypi
cryptography 37.0.1 py39h9ce1e76_0
cudatoolkit 11.3.1 h2bc3f7f_2
cycler 0.11.0 pypi_0 pypi
cython 0.29.30 pypi_0 pypi
dbus 1.13.6 h5008d03_3 conda-forge
debugpy 1.6.0 py39h5a03fae_0 conda-forge
decorator 4.4.2 pypi_0 pypi
defusedxml 0.7.1 pyhd8ed1ab_0 conda-forge
dm-control 1.0.3.post1 pypi_0 pypi
dm-env 1.5 pypi_0 pypi
dm-tree 0.1.7 pypi_0 pypi
elfutils 0.186 he364ef2_0 conda-forge
entrypoints 0.4 pyhd8ed1ab_0 conda-forge
executing 0.8.3 pyhd8ed1ab_0 conda-forge
expat 2.4.8 h27087fc_0 conda-forge
fasteners 0.17.3 pypi_0 pypi
ffmpeg 5.0.1 h964e5f1_2 conda-forge
fftw 3.3.8 nompi_hfc0cae8_1114 conda-forge
flatten-dict 0.4.2 pypi_0 pypi
flit-core 3.7.1 pyhd8ed1ab_0 conda-forge
font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge
font-ttf-inconsolata 3.000 h77eed37_0 conda-forge
font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge
font-ttf-ubuntu 0.83 hab24e00_0 conda-forge
fontconfig 2.14.0 h8e229c2_0 conda-forge
fonts-conda-ecosystem 1 0 conda-forge
fonts-conda-forge 1 0 conda-forge
fonttools 4.33.3 pypi_0 pypi
freetype 2.10.4 h0708190_1 conda-forge
freetype-py 2.3.0 pypi_0 pypi
frozenlist 1.3.0 py39hb9d737c_1 conda-forge
functorch 0.3.0a0+693bcee pypi_0 pypi
gast 0.4.0 pyh9f0ad1d_0 conda-forge
gettext 0.19.8.1 h73d1719_1008 conda-forge
giflib 5.2.1 h36c2ea0_2 conda-forge
glew 2.1.0 h9c3ff4c_2 conda-forge
glew-osmesa 1.13.0.20151117 0 menpo
glfw 2.5.3 pypi_0 pypi
glfw3 3.2.1 0 menpo
gmp 6.2.1 h58526e2_0 conda-forge
gnutls 3.6.13 h85f3911_1 conda-forge
google-auth 2.6.6 pypi_0 pypi
google-auth-oauthlib 0.4.6 pyhd8ed1ab_0 conda-forge
google-pasta 0.2.0 pyh8c360ce_0 conda-forge
grpcio 1.46.3 py39h0f497a6_0 conda-forge
gst-plugins-base 1.20.2 hf6a322e_1 conda-forge
gstreamer 1.20.2 hd4edc92_1 conda-forge
gym 0.24.1 pypi_0 pypi
gym-notices 0.0.6 pypi_0 pypi
h5py 2.10.0 nompi_py39h98ba4bc_106 conda-forge
hdf5 1.10.6 nompi_h3c11f04_101 conda-forge
icu 70.1 h27087fc_0 conda-forge
idna 3.3 pyhd8ed1ab_0 conda-forge
imageio 2.19.3 pypi_0 pypi
imageio-ffmpeg 0.4.7 pypi_0 pypi
importlib-metadata 4.11.4 py39hf3d152e_0 conda-forge
importlib_resources 5.7.1 pyhd8ed1ab_1 conda-forge
iniconfig 1.1.1 pypi_0 pypi
intel-openmp 2021.4.0 h06a4308_3561
ipykernel 6.13.0 pypi_0 pypi
ipython 8.4.0 py39hf3d152e_0 conda-forge
ipython-genutils 0.2.0 pypi_0 pypi
ipython_genutils 0.2.0 py_1 conda-forge
ipywidgets 7.7.0 pyhd8ed1ab_0 conda-forge
jack 1.9.18 h8c3723f_1002 conda-forge
jedi 0.18.1 py39hf3d152e_1 conda-forge
jinja2 3.1.2 pyhd8ed1ab_1 conda-forge
jpeg 9e h166bdaf_1 conda-forge
json-c 0.16 hc379101_0 conda-forge
json5 0.9.8 pypi_0 pypi
jsonschema 4.5.1 pypi_0 pypi
jupyter 1.0.0 py39hf3d152e_7 conda-forge
jupyter-client 7.3.1 pypi_0 pypi
jupyter-server 1.17.0 pypi_0 pypi
jupyter_client 7.3.4 pyhd8ed1ab_0 conda-forge
jupyter_console 6.4.3 pyhd8ed1ab_0 conda-forge
jupyter_core 4.10.0 py39hf3d152e_0 conda-forge
jupyterlab 3.4.2 pypi_0 pypi
jupyterlab-server 2.14.0 pypi_0 pypi
jupyterlab_pygments 0.2.2 pyhd8ed1ab_0 conda-forge
jupyterlab_widgets 1.1.0 pyhd8ed1ab_0 conda-forge
keras-preprocessing 1.1.2 pyhd8ed1ab_0 conda-forge
keyutils 1.6.1 h166bdaf_0 conda-forge
kiwisolver 1.4.2 pypi_0 pypi
krb5 1.19.3 h3790be6_0 conda-forge
labmaze 1.0.5 pypi_0 pypi
lame 3.100 h7f98852_1001 conda-forge
lcms2 2.12 hddcbb42_0 conda-forge
ld_impl_linux-64 2.36.1 hea4e1c9_2 conda-forge
lerc 3.0 h9c3ff4c_0 conda-forge
libarchive 3.5.2 hb890918_2 conda-forge
libcap 2.64 ha37c62d_0 conda-forge
libclang 14.0.4 default_h2e3cab8_0 conda-forge
libclang13 14.0.4 default_h3a83d3e_0 conda-forge
libcups 2.3.3 hf5a7f15_1 conda-forge
libcurl 7.83.1 h7bff187_0 conda-forge
libdb 6.2.32 h9c3ff4c_0 conda-forge
libdeflate 1.10 h7f98852_0 conda-forge
libdrm 2.4.109 h7f98852_0 conda-forge
libdrm-cos6-x86_64 2.4.65 4 anaconda
libedit 3.1.20191231 he28a2e2_2 conda-forge
libev 4.33 h516909a_1 conda-forge
libevent 2.1.10 h9b69904_4 conda-forge
libffi 3.4.2 h7f98852_5 conda-forge
libflac 1.3.4 h27087fc_0 conda-forge
libgcc-ng 12.1.0 h8d9b700_16 conda-forge
libgfortran-ng 7.5.0 h14aa051_20 conda-forge
libgfortran4 7.5.0 h14aa051_20 conda-forge
libglib 2.70.2 h174f98d_4 conda-forge
libglu 9.0.0 he1b5a44_1001 conda-forge
libgomp 12.1.0 h8d9b700_16 conda-forge
libiconv 1.16 h516909a_0 conda-forge
libllvm14 14.0.4 he0ac6c6_0 conda-forge
libmicrohttpd 0.9.75 h7f98852_0 conda-forge
libnghttp2 1.47.0 h727a467_0 conda-forge
libnsl 2.0.0 h7f98852_0 conda-forge
libogg 1.3.4 h7f98852_1 conda-forge
libopus 1.3.1 h7f98852_1 conda-forge
libpciaccess 0.16 h516909a_0 conda-forge
libpng 1.6.37 h21135ba_2 conda-forge
libpq 14.3 hd77ab85_0 conda-forge
libprotobuf 3.20.1 h6239696_0 conda-forge
libsndfile 1.0.31 h9c3ff4c_1 conda-forge
libsodium 1.0.18 h36c2ea0_1 conda-forge
libssh2 1.10.0 ha56f1ee_2 conda-forge
libstdcxx-ng 12.1.0 ha89aaad_16 conda-forge
libtiff 4.3.0 h0fcbabc_4 conda-forge
libtool 2.4.6 h9c3ff4c_1008 conda-forge
libuuid 2.32.1 h7f98852_1000 conda-forge
libva 2.14.0 h7f98852_0 conda-forge
libvorbis 1.3.7 h9c3ff4c_0 conda-forge
libvpx 1.11.0 h9c3ff4c_3 conda-forge
libwebp 1.2.2 h3452ae3_0 conda-forge
libwebp-base 1.2.2 h7f98852_1 conda-forge
libx11-common-cos6-x86_64 1.6.4 4 anaconda
libx11-cos6-x86_64 1.6.4 4 anaconda
libxcb 1.13 h7f98852_1004 conda-forge
libxkbcommon 1.0.3 he3ba5ed_0 conda-forge
libxml2 2.9.14 h22db469_0 conda-forge
libzlib 1.2.12 h166bdaf_0 conda-forge
lockfile 0.12.2 pypi_0 pypi
lxml 4.8.0 pypi_0 pypi
lz4-c 1.9.3 h9c3ff4c_1 conda-forge
lzo 2.10 h516909a_1000 conda-forge
markdown 3.3.7 pyhd8ed1ab_0 conda-forge
markupsafe 2.1.1 py39hb9d737c_1 conda-forge
matplotlib 3.5.2 pypi_0 pypi
matplotlib-inline 0.1.3 pyhd8ed1ab_0 conda-forge
mesa-libgl-cos6-x86_64 11.0.7 4 anaconda
mesalib 21.2.5 h0e4506f_3 conda-forge
mistune 0.8.4 py39h3811e60_1005 conda-forge
mj-envs 1.0.0 dev_0 <develop>
mjrl 0.1.1 dev_0 <develop>
mkl 2021.4.0 h06a4308_640
mkl-service 2.4.0 py39h7e14d7c_0 conda-forge
mkl_fft 1.3.1 py39h0c7bc48_1 conda-forge
mkl_random 1.2.2 py39hde0f152_0 conda-forge
moviepy 1.0.3 pypi_0 pypi
mujoco 2.2.0 pypi_0 pypi
mujoco-py 2.0.2.2 dev_0 <develop>
multidict 6.0.2 py39hb9d737c_1 conda-forge
mysql-common 8.0.29 haf5c9bc_1 conda-forge
mysql-libs 8.0.29 h28c427c_1 conda-forge
nbclassic 0.3.7 pypi_0 pypi
nbclient 0.6.3 pypi_0 pypi
nbconvert 6.5.0 pyhd8ed1ab_0 conda-forge
nbconvert-core 6.5.0 pyhd8ed1ab_0 conda-forge
nbconvert-pandoc 6.5.0 pyhd8ed1ab_0 conda-forge
nbformat 5.4.0 pyhd8ed1ab_0 conda-forge
ncurses 6.3 h27087fc_1 conda-forge
nest-asyncio 1.5.5 pyhd8ed1ab_0 conda-forge
nettle 3.6 he412f7d_0 conda-forge
networkx 2.8.3 pypi_0 pypi
notebook 6.4.11 pypi_0 pypi
notebook-shim 0.1.0 pypi_0 pypi
nspr 4.32 h9c3ff4c_1 conda-forge
nss 3.78 h2350873_0 conda-forge
numpy 1.22.4 pypi_0 pypi
numpy-base 1.22.3 py39hf524024_0
oauthlib 3.2.0 pyhd8ed1ab_0 conda-forge
openh264 2.1.1 h780b84a_0 conda-forge
openjpeg 2.4.0 hb52868f_1 conda-forge
openssl 1.1.1o h166bdaf_0 conda-forge
opt_einsum 3.3.0 pyhd8ed1ab_1 conda-forge
osmesa 12.2.2.dev 0 menpo
packaging 21.3 pyhd8ed1ab_0 conda-forge
pandas 1.4.2 pypi_0 pypi
pandoc 2.18 ha770c72_0 conda-forge
pandocfilters 1.5.0 pyhd8ed1ab_0 conda-forge
parso 0.8.3 pyhd8ed1ab_0 conda-forge
patchelf 0.14.5.0 pypi_0 pypi
pcre 8.45 h9c3ff4c_0 conda-forge
pexpect 4.8.0 pyh9f0ad1d_2 conda-forge
pickleshare 0.7.5 py_1003 conda-forge
pillow 9.1.1 py39hae2aec6_0 conda-forge
pip 22.1.1 pyhd8ed1ab_0 conda-forge
pluggy 1.0.0 pypi_0 pypi
portaudio 19.6.0 h57a0ea0_5 conda-forge
proglog 0.1.10 pypi_0 pypi
prometheus_client 0.14.1 pyhd8ed1ab_0 conda-forge
prompt-toolkit 3.0.29 pyha770c72_0 conda-forge
prompt_toolkit 3.0.29 hd8ed1ab_0 conda-forge
protobuf 3.19.4 pypi_0 pypi
psutil 5.9.1 py39hb9d737c_0 conda-forge
pthread-stubs 0.4 h36c2ea0_1001 conda-forge
ptyprocess 0.7.0 pyhd3deb0d_0 conda-forge
pulseaudio 14.0 h583eb01_5 conda-forge
pure_eval 0.2.2 pyhd8ed1ab_0 conda-forge
py 1.11.0 pypi_0 pypi
pyasn1 0.4.8 py_0 conda-forge
pyasn1-modules 0.2.8 pypi_0 pypi
pycparser 2.21 pyhd8ed1ab_0 conda-forge
pygame 2.1.2 pypi_0 pypi
pyglet 1.5.26 pypi_0 pypi
pygments 2.12.0 pyhd8ed1ab_0 conda-forge
pyjwt 2.4.0 pyhd8ed1ab_0 conda-forge
pyopengl 3.1.6 pypi_0 pypi
pyopenssl 22.0.0 pyhd8ed1ab_0 conda-forge
pyparsing 2.4.7 pypi_0 pypi
pyqt 5.15.4 py39h18e9c17_1 conda-forge
pyqt5-sip 12.9.0 py39h5a03fae_1 conda-forge
pyrender 0.1.45 pypi_0 pypi
pyrsistent 0.18.1 py39hb9d737c_1 conda-forge
pysocks 1.7.1 py39hf3d152e_5 conda-forge
pytest 7.1.2 pypi_0 pypi
python 3.9.13 h9a8a25e_0_cpython conda-forge
python-dateutil 2.8.2 pyhd8ed1ab_0 conda-forge
python-fastjsonschema 2.15.3 pyhd8ed1ab_0 conda-forge
python-flatbuffers 2.0 pyhd8ed1ab_0 conda-forge
python_abi 3.9 2_cp39 conda-forge
pytorch 1.13.0.dev20220531 py3.9_cuda11.3_cudnn8.3.2_0 pytorch-nightly
pytorch-mutex 1.0 cuda pytorch-nightly
pytz 2022.1 pypi_0 pypi
pyu2f 0.1.5 pyhd8ed1ab_0 conda-forge
pyyaml 6.0 pypi_0 pypi
pyzmq 23.0.0 pypi_0 pypi
qt-main 5.15.4 ha5833f6_1 conda-forge
qtconsole 5.3.1 pyhd8ed1ab_0 conda-forge
qtconsole-base 5.3.1 pyha770c72_0 conda-forge
qtpy 2.1.0 pyhd8ed1ab_0 conda-forge
readline 8.1 h46c0cb4_0 conda-forge
requests 2.27.1 pyhd8ed1ab_0 conda-forge
requests-oauthlib 1.3.1 pyhd8ed1ab_0 conda-forge
rsa 4.8 pyhd8ed1ab_0 conda-forge
scipy 1.8.1 pypi_0 pypi
send2trash 1.8.0 pyhd8ed1ab_0 conda-forge
setuptools 62.3.2 py39hf3d152e_0 conda-forge
sip 6.5.1 py39he80948d_2 conda-forge
six 1.16.0 pyh6c4a22f_0 conda-forge
sk-video 1.1.10 pypi_0 pypi
sniffio 1.2.0 pypi_0 pypi
soupsieve 2.3.2.post1 pypi_0 pypi
sqlite 3.38.5 h4ff8645_0 conda-forge
stack_data 0.2.0 pyhd8ed1ab_0 conda-forge
submitit 1.4.2 pypi_0 pypi
svt-av1 1.1.0 h27087fc_1 conda-forge
tensorboard 2.9.1 pypi_0 pypi
tensorboard-data-server 0.6.1 pypi_0 pypi
tensorboard-plugin-wit 1.8.1 pyhd8ed1ab_0 conda-forge
tensorflow 2.4.1 mkl_py39h4683426_0
tensorflow-base 2.4.1 mkl_py39h43e0292_0
tensorflow-estimator 2.6.0 py39he80948d_0 conda-forge
termcolor 1.1.0 py_2 conda-forge
terminado 0.15.0 py39hf3d152e_0 conda-forge
tinycss2 1.1.1 pyhd8ed1ab_0 conda-forge
tk 8.6.12 h27826a3_0 conda-forge
toml 0.10.2 pyhd8ed1ab_0 conda-forge
tomli 2.0.1 pypi_0 pypi
torch-tb-profiler 0.4.0 pypi_0 pypi
torchaudio 0.12.0.dev20220531 py39_cu113 pytorch-nightly
torchrl 0.1 dev_0 <develop>
torchvision 0.14.0.dev20220531 py39_cu113 pytorch-nightly
tornado 6.1 py39hb9d737c_3 conda-forge
tqdm 4.64.0 pypi_0 pypi
traitlets 5.2.1.post0 pypi_0 pypi
trimesh 3.12.6 pypi_0 pypi
typing-extensions 4.2.0 hd8ed1ab_1 conda-forge
typing_extensions 4.2.0 pyha770c72_1 conda-forge
tzdata 2022a h191b570_0 conda-forge
urllib3 1.26.9 pyhd8ed1ab_0 conda-forge
wcwidth 0.2.5 pyh9f0ad1d_2 conda-forge
webencodings 0.5.1 pypi_0 pypi
websocket-client 1.3.2 pypi_0 pypi
werkzeug 2.1.2 pyhd8ed1ab_1 conda-forge
wheel 0.37.1 pyhd8ed1ab_0 conda-forge
widgetsnbextension 3.6.0 py39hf3d152e_0 conda-forge
wrapt 1.14.1 py39hb9d737c_0 conda-forge
x264 1!161.3030 h7f98852_1 conda-forge
x265 3.5 h924138e_3 conda-forge
xorg-damageproto 1.2.1 h7f98852_1002 conda-forge
xorg-fixesproto 5.0 h7f98852_1002 conda-forge
xorg-glproto 1.4.17 h7f98852_1002 conda-forge
xorg-kbproto 1.0.7 h7f98852_1002 conda-forge
xorg-libx11 1.7.2 h7f98852_0 conda-forge
xorg-libxau 1.0.9 h7f98852_0 conda-forge
xorg-libxcursor 1.2.0 h7f98852_0 conda-forge
xorg-libxdamage 1.1.5 h7f98852_1 conda-forge
xorg-libxdmcp 1.1.3 h7f98852_0 conda-forge
xorg-libxext 1.3.4 h7f98852_1 conda-forge
xorg-libxfixes 5.0.3 h7f98852_1004 conda-forge
xorg-libxinerama 1.1.4 h9c3ff4c_1001 conda-forge
xorg-libxrandr 1.5.2 h7f98852_1 conda-forge
xorg-libxrender 0.9.10 h7f98852_1003 conda-forge
xorg-randrproto 1.5.0 h7f98852_1001 conda-forge
xorg-renderproto 0.11.1 h7f98852_1002 conda-forge
xorg-util-macros 1.19.3 h7f98852_0 conda-forge
xorg-xextproto 7.3.0 h7f98852_1002 conda-forge
xorg-xf86vidmodeproto 2.3.1 h7f98852_1002 conda-forge
xorg-xproto 7.0.31 h7f98852_1007 conda-forge
xz 5.2.5 h516909a_1 conda-forge
yarl 1.7.2 py39hb9d737c_2 conda-forge
zeromq 4.3.4 h9c3ff4c_1 conda-forge
zipp 3.8.0 pyhd8ed1ab_0 conda-forge
zlib 1.2.12 h166bdaf_0 conda-forge
zstd 1.5.2 h8a70e8d_1 conda-forge
Issue Analytics
- State:
- Created a year ago
- Comments:19 (11 by maintainers)
Can you please try running with
DISABLE_RENDER_THREAD_OFFLOADING=1
(environment variable)?I’ll have this fixed in our 1.0.6 release later this week.