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#!/usr/bin/env python3
"""
GPU initialization script for MuJoCo EGL rendering in containerized environments.
This should be run before starting the notebook to ensure GPU is properly set up.
"""
import os
import subprocess
import sys
def check_nvidia_driver():
"""Check if NVIDIA driver is accessible."""
try:
result = subprocess.run(['nvidia-smi'], capture_output=True, text=True)
if result.returncode == 0:
print("✓ NVIDIA driver accessible")
print(result.stdout.split('\n')[2]) # Driver info line
return True
else:
print("✗ NVIDIA driver not accessible")
return False
except FileNotFoundError:
print("✗ nvidia-smi not found")
return False
def check_egl_libs():
"""Check if EGL libraries are available."""
import ctypes
libs_to_check = [
'libEGL.so.1',
'libGL.so.1',
'libEGL_nvidia.so.0'
]
for lib in libs_to_check:
try:
ctypes.CDLL(lib)
print(f"✓ {lib} loaded successfully")
except OSError as e:
print(f"✗ Failed to load {lib}: {e}")
def test_egl_device():
"""Test EGL device creation."""
try:
# Try to create an EGL display
from OpenGL import EGL
import ctypes
# Get EGL display
display = EGL.eglGetDisplay(EGL.EGL_DEFAULT_DISPLAY)
if display == EGL.EGL_NO_DISPLAY:
print("✗ Failed to get EGL display")
return False
# Initialize EGL
major = ctypes.c_long()
minor = ctypes.c_long()
if not EGL.eglInitialize(display, ctypes.byref(major), ctypes.byref(minor)):
print("✗ Failed to initialize EGL")
return False
print(f"✓ EGL initialized successfully (version {major.value}.{minor.value})")
# Clean up
EGL.eglTerminate(display)
return True
except Exception as e:
print(f"✗ EGL test failed: {e}")
return False
def test_mujoco_rendering():
"""Test MuJoCo rendering capability."""
try:
import mujoco
# Create a simple model
xml = """
<mujoco>
<worldbody>
<body>
<geom type="box" size="1 1 1"/>
</body>
</worldbody>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
# Try to create a renderer (this is where EGL issues usually surface)
try:
renderer = mujoco.Renderer(model, height=240, width=320)
print("✓ MuJoCo renderer created successfully")
return True
except Exception as e:
print(f"✗ MuJoCo renderer creation failed: {e}")
return False
except ImportError:
print("✗ MuJoCo not installed")
return False
except Exception as e:
print(f"✗ MuJoCo test failed: {e}")
return False
def main():
"""Run all GPU initialization checks."""
print("🔧 Initializing GPU for MuJoCo rendering...")
print("=" * 50)
# Set environment variables
os.environ['MUJOCO_GL'] = 'egl'
os.environ['PYOPENGL_PLATFORM'] = 'egl'
os.environ['EGL_PLATFORM'] = 'device'
print("Environment variables set:")
print(f" MUJOCO_GL: {os.environ.get('MUJOCO_GL')}")
print(f" PYOPENGL_PLATFORM: {os.environ.get('PYOPENGL_PLATFORM')}")
print(f" EGL_PLATFORM: {os.environ.get('EGL_PLATFORM')}")
print()
# Run checks
checks = [
("NVIDIA Driver", check_nvidia_driver),
("EGL Libraries", lambda: check_egl_libs() or True), # Always continue
("EGL Device", test_egl_device),
("MuJoCo Rendering", test_mujoco_rendering),
]
results = []
for name, check_func in checks:
print(f"Checking {name}...")
try:
result = check_func()
results.append((name, result))
except Exception as e:
print(f"✗ {name} check failed with exception: {e}")
results.append((name, False))
print()
# Summary
print("=" * 50)
print("🔍 Summary:")
all_passed = True
for name, passed in results:
status = "✓ PASS" if passed else "✗ FAIL"
print(f" {name}: {status}")
if not passed:
all_passed = False
if all_passed:
print("\n🎉 All checks passed! GPU rendering should work.")
return 0
else:
print("\n⚠️ Some checks failed. GPU rendering may not work properly.")
return 1
if __name__ == "__main__":
sys.exit(main()) |