Restore rendering using libGL

examples/PD_controller.ipynb

@@ -140,26 +140,50 @@
    "source": [
     "# @title Set up MuJoCo renderer\n",
     "\n",
-    "from jaxsim.mujoco.visualizer import MujocoVisualizer\n",
     "from jaxsim.mujoco import RodModelToMjcf, MujocoModelHelper, MujocoVideoRecorder\n",
     "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
     "\n",
-    "try:\n",
-    "    import mujoco\n",
-    "except Exception as e:\n",
-    "    raise e from RuntimeError(\n",
-    "        \"Something went wrong during installation. Check the shell output above \"\n",
-    "        \"for more information.\\n\"\n",
-    "        \"If using a hosted Colab runtime, make sure you enable GPU acceleration \"\n",
-    "        'by going to the Runtime menu and selecting \"Choose runtime type\".'\n",
-    "    )\n",
+    "import os\n",
+    "import subprocess\n",
+    "\n",
+    "\n",
+    "if IS_COLAB:\n",
+    "    if subprocess.run(\"ffmpeg -version\", shell=True).returncode:\n",
+    "        !command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
+    "        clear_output()\n",
+    "\n",
+    "    if subprocess.run(\"nvidia-smi\").returncode:\n",
+    "        raise RuntimeError(\n",
+    "            \"Cannot communicate with GPU. \"\n",
+    "            \"Make sure you are using a GPU Colab runtime. \"\n",
+    "            \"Go to the Runtime menu and select Choose runtime type.\"\n",
+    "        )\n",
+    "\n",
+    "    # Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
+    "    # This is usually installed as part of an Nvidia driver package, but the Colab\n",
+    "    # kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
+    "    # (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
+    "    NVIDIA_ICD_CONFIG_PATH = \"/usr/share/glvnd/egl_vendor.d/10_nvidia.json\"\n",
+    "    if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
+    "        with open(NVIDIA_ICD_CONFIG_PATH, \"w\") as f:\n",
+    "            f.write(\n",
+    "                \"\"\"{\n",
+    "      \"file_format_version\" : \"1.0.0\",\n",
+    "      \"ICD\" : {\n",
+    "         \"library_path\" : \"libEGL_nvidia.so.0\"\n",
+    "     }\n",
+    "  }\n",
+    "  \"\"\"\n",
+    "            )\n",
+    "\n",
+    "%env MUJOCO_GL=egl\n",
     "\n",
     "camera = {\n",
-    "    \"name\":\"cartpole_camera\",\n",
-    "    \"mode\":\"fixed\",\n",
-    "    \"pos\":\"3.954 3.533 2.343\",\n",
-    "    \"xyaxes\":\"-0.594 0.804 -0.000 -0.163 -0.120 0.979\",\n",
-    "    \"fovy\":\"60\",\n",
+    "    \"name\": \"cartpole_camera\",\n",
+    "    \"mode\": \"fixed\",\n",
+    "    \"pos\": \"3.954 3.533 2.343\",\n",
+    "    \"xyaxes\": \"-0.594 0.804 -0.000 -0.163 -0.120 0.979\",\n",
+    "    \"fovy\": \"60\",\n",
     "}\n",
     "\n",
     "mjcf_string, assets = UrdfToMjcf.convert(urdf=model.built_from, cameras=camera)\n",