couldn't compile MuJoCo.jl

[ZhaomingXie]

Hi
I encounter this error message while trying "using MuJoCo":

ERROR: LoadError: LoadError: InitError: could not load library "/home/zhaoming/.julia/artifacts/958f14ac09ce5cc2f5f6ec439a48b868513d6c5c/lib/libGL.so"

/home/zhaoming/.julia/artifacts/958f14ac09ce5cc2f5f6ec439a48b868513d6c5c/lib/libGL.so: undefined symbol: _glapi_tls_Current

I try googling it and couldn't find anything related. Any help will be appreciated, Thanks!

[colinxs]

Hi @ZhaomingXie!

Could you attach the Project.toml, Manifest.toml, and printout of versioninfo() so I can try and figure out what's going on? Here's a code snippet to help:

using Pkg
function getinfo(dstpath::AbstractString)
    mktempdir() do dir
        env = Pkg.Types.Context().env
        Pkg.Types.write_project(env.project, joinpath(dir, "Project.toml"))
        Pkg.Types.write_manifest(env.manifest, joinpath(dir, "Manifest.toml"))
        open(joinpath(dir, "versioninfo.txt"), "w") do io
            versioninfo(io)
        end
        Pkg.PlatformEngines.probe_platform_engines!()
        Pkg.PlatformEngines.package(dir, dstpath)
    end
end

just run getinfo("path/to/info.tar.gz") and attach that tarfile!

Thanks!
Colin

p.s. I see you're working on some Cassie projects. We're working on integrating Cassie into Lyceum, a new robotics framework that we created, and would love feedback from someone familiar with the system.

[ZhaomingXie]

Hi @colinxs
Many thanks for your help! Attached are the requested files.

Re: Cassie. Yes! I am happy to help with Cassie integration.

info.tar.gz

[colinxs]

@ZhaomingXie

This may be related to a similar issue that I ran into on Mac machines in MuJoCo_jll that was patched. Can you try running Pkg.update() and see if that alleviates the problem? You should see something like:

  [32af7c3b] ↑ MuJoCo_jll v2.0.0+0 ⇒ v2.0.0+1

[ZhaomingXie]

@colinxs
Thanks for the help!
It seems like the copy of libGL.so in .julia is broken somehow. I link it to my local copy of libGL.so and it works now.

[colinxs]

Glad to hear you found a workaround! Did the update not work?

We test against linux/macos/windows with that libGL.so (the CI runners don't provide libGL.so themselves), so if you found a bug I'd like to figure out what's unique about your system. If you could tell me a bit more information that'd be helpful!

1. When you linked the libGL.so, how exactly did you do it?
2. What linux platform/version are you on?
3. Do you have a GPU, if so what driver version? For nvidia you can copy-paste the output of nvidia-smi.
4. Did you specify a LD_LIBRARY_PATH?

Thank you @ZhaomingXie !

[ZhaomingXie]

Happy to help! The update didn't work and I needed to do something else. Here are the answers to your questions:

1. I linked it using command: ln -s /usr/lib32/nvidia-418/libOpenGL.so /home/zhaoming/.julia/artifacts/958f14ac09ce5cc2f5f6ec439a48b868513d6c5c/lib/libGL.so. I also needed to do it for libOpenGL.so, libGLESv2.so and libGLESv1_CM.so. They all complain about " undefined symbol: _glapi_tls_Current".

2. I am working on Ubuntu 16.04.

3. The output of nvidia-smi is: NVIDIA-SMI 418.87.01 Driver Version: 418.87.01 CUDA Version: 10.1 .

4. No I didn't specify LD_LIBRARY_PATH.

Hope that helps.

[klowrey]

@ZhaomingXie What Linux kernel are you on? I'm just curious; you can run uname -a to find out.

[colinxs]

Thanks for sending that to me. I can't be sure without inspecting your system, but judging by /usr/lib32/nvidia-418/ it looks like you're using 32-bit nvidia drivers on a 64-bit machine? If you purged your system of nvidia drivers and reinstalled the 64-bit versions then MuJoCo should work out of the box.

Also, keep in mind that that symlink may throw an error during a Pkg update or if you re-install the same version of MuJoCo_jll (installed automatically by MuJoCo).

[ZhaomingXie]

@klowrey
The output of unmae -a is: 4.15.0-74-generic #83~16.04.1-Ubuntu SMP Wed Dec 18 04:56:23 UTC 2019 x86_64 x86_64 x86_64 GNU/Linux.