Running MJPC without GUI

[kgimbergh]

Hi! I am a student at the TU Delft, I use MuJoCo for my research on balanced standing for an exoskeleton.

I use MJPC in C++ with MuJoCo version 3.1.4 on ubuntu 22.04.

To tune the weights in my cost function, I would like to be able to run MJPC without the GUI of MuJoCo. Now I have read that headless rendering is possible, but I have not been able to accomplish it.

The first option I saw was to install OSMesa or EGL and to set MUJOCO_GL to 'osmesa' or 'egl', respectively. Unfortunately nothing changed in doing this and the MuJoCo GUI launched as it would normally.

When trying to disable the launch of the GUI manually in say simulate.cc, I run into segmentation faults.

I have also seen that it might be possible using python, but I would prefer to keep to C++.

Is there anything that I have looked over? Is there a simple way to get headless rendering? Thanks!

[yuvaltassa]

Hi @kgimbergh,

What you are asking might be possible, but could you please explain your reasoning? Why do you want this? Generally speaking, MJPC should be used either online-interactive with a GUI or offline via gRPC (no rendering). Are you thinking of the online or offline use case? If the latter, why do you need rendering at all?

Note that the offline functionality is implemented via gRPC. It is possible to talk gRPC over Python but of course it is also possible via C++.