PyBullet GUI problem on Ubuntu 18 with NVIDIA driver

Describe the bug Same as #41. Installation steps are applied properly.

Trying to run fly.py.

stavrako@stavrako:~/gym-pybullet-drones/examples$ python3 fly.py pybullet build time: May 14 2021 14:07:06 [INFO] BaseAviary.init() loaded parameters from the drone’s .urdf: [INFO] m 0.027000, L 0.039700, [INFO] ixx 0.000014, iyy 0.000014, izz 0.000022, [INFO] kf 0.000000, km 0.000000, [INFO] t2w 2.250000, max_speed_kmh 30.000000, [INFO] gnd_eff_coeff 11.368590, prop_radius 0.023135, [INFO] drag_xy_coeff 0.000001, drag_z_coeff 0.000001, [INFO] dw_coeff_1 2267.180000, dw_coeff_2 0.160000, dw_coeff_3 -0.110000 startThreads creating 1 threads. starting thread 0 started thread 0 argc=2 argv[0] = --unused argv[1] = --start_demo_name=Physics Server ExampleBrowserThreadFunc started X11 functions dynamically loaded using dlopen/dlsym OK! X11 functions dynamically loaded using dlopen/dlsym OK! Creating context Created GL 3.3 context Direct GLX rendering context obtained Making context current GL_VENDOR=NVIDIA Corporation GL_RENDERER=GeForce MX110/PCIe/SSE2 GL_VERSION=3.3.0 NVIDIA 460.73.01 GL_SHADING_LANGUAGE_VERSION=3.30 NVIDIA via Cg compiler pthread_getconcurrency()=0 Version = 3.3.0 NVIDIA 460.73.01 Vendor = NVIDIA Corporation Renderer = GeForce MX110/PCIe/SSE2 b3Printf: Selected demo: Physics Server startThreads creating 1 threads. starting thread 0 started thread 0 MotionThreadFunc thread started viewMatrix (-0.8660253882408142, -0.2499999701976776, 0.4330126941204071, 0.0, 0.0, 0.8660253286361694, 0.4999999701976776, 0.0, -0.4999999701976776, 0.4330126643180847, -0.75, 0.0, -0.0, 5.960464477539063e-08, -2.999999761581421, 1.0) projectionMatrix (1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0) /home/stavrako/.local/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 warnings.warn(colorize(‘%s: %s’%(‘WARN’, msg % args), ‘yellow’)) ven = NVIDIA Corporation ven = NVIDIA Corporation

[INFO] BaseAviary.render() ——— it 0005 ——— wall-clock time 1.5s, simulation time 0.0s@240Hz (0.01x) [INFO] BaseAviary.render() ——— drone 0 ——— x +00.00, y +00.00, z +00.10 ——— velocity +00.00, +00.00, +00.00 ——— roll +00.00, pitch -00.00, yaw +00.00 ——— angular velocity +0.0000, +0.0000, +0.0000 ——— [INFO] BaseAviary.render() ——— drone 1 ——— x -00.26, y -00.15, z +00.15 ——— velocity +00.00, +00.00, +00.00 ——— roll -00.00, pitch -00.00, yaw +30.00 ——— angular velocity +0.0000, +0.0000, +0.0000 ——— [INFO] BaseAviary.render() ——— drone 2 ——— x -00.26, y -00.45, z +00.20 ——— velocity +00.00, +00.00, +00.00 ——— roll -00.00, pitch -00.00, yaw +60.00 ——— angular velocity +0.0000, +0.0000, +0.0000 ———

…

numActiveThreads = 0 stopping threads Thread with taskId 0 exiting Thread TERMINATED destroy semaphore semaphore destroyed destroy main semaphore main semaphore destroyed finished numActiveThreads = 0 btShutDownExampleBrowser stopping threads Thread with taskId 0 exiting Thread TERMINATED destroy semaphore semaphore destroyed destroy main semaphore main semaphore destroyed

To Reproduce Steps to reproduce the behavior: Running fly.py

Expected behavior 1.

I run a minimal example that has been referred in #41

import pybullet as p
import pybullet_data
from time import sleep

def main():
    PYB_CLIENT = p.connect(p.GUI)
    p.setGravity(0, 0, -9.8, physicsClientId=PYB_CLIENT)
    p.setRealTimeSimulation(0, physicsClientId=PYB_CLIENT)
    p.setTimeStep(1/240, physicsClientId=PYB_CLIENT)
    p.setAdditionalSearchPath(pybullet_data.getDataPath(), physicsClientId=PYB_CLIENT)
    p.loadURDF("plane.urdf", physicsClientId=PYB_CLIENT)
    p.loadURDF("duck_vhacd.urdf", [0, 0, 1], physicsClientId=PYB_CLIENT)
    for _ in range(240*10):
        p.stepSimulation(physicsClientId=PYB_CLIENT)
        sleep(1/(240*10))

if __name__ == "__main__":
    main()

1. “replace p.connect(p.GUI) with p.connect(p.GUI, options=”–opengl2")" didn’t work as well.

Desktop (please complete the following information):

• OS: Ubuntu 18.04
• Software Python 3.6

 stavrako@stavrako:~$ glxinfo | grep "OpenGL version"
OpenGL version string: 4.6.0 NVIDIA 460.73.01
stavrako@stavrako:~$ glxinfo | grep 'version'
server glx version string: 1.4
client glx version string: 1.4
GLX version: 1.4
OpenGL core profile version string: 4.6.0 NVIDIA 460.73.01
OpenGL core profile shading language version string: 4.60 NVIDIA
OpenGL version string: 4.6.0 NVIDIA 460.73.01
OpenGL shading language version string: 4.60 NVIDIA
OpenGL ES profile version string: OpenGL ES 3.2 NVIDIA 460.73.01
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
    GL_EXT_shader_group_vote, GL_EXT_shader_implicit_conversions, 
stavrako@stavrako:~$ nvidia-smi
Tue May 18 19:18:46 2021       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 460.73.01    Driver Version: 460.73.01    CUDA Version: 11.2     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                               |                      |               MIG M. |
|===============================+======================+======================|
|   0  GeForce MX110       Off  | 00000000:01:00.0 Off |                  N/A |
| N/A   49C    P0    N/A /  N/A |    136MiB /  2004MiB |      4%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A      5480      G   /usr/lib/xorg/Xorg                 88MiB |
|    0   N/A  N/A      5642      G   /usr/bin/gnome-shell               44MiB |
+-----------------------------------------------------------------------------+

Additional context I have tried Windows and it works fine there.

[JacopoPan]

Thanks @stavrako,

I’d suspect this to be an issue arising directly from PyBullet / OpenGL when using Ubuntu and NVIDIA GPUs. I normally work on macOS (and I’m glad Windows works fine too) but I will look into this when I can.

[JacopoPan]

Thanks for confirming that @lampidis. If you happen to find a way to replicate the problem in the minimal example, I’d try to fix it (or at least understand the cause).