Control Stack not running

[abubakr-aqeel]

I am running python gr00t_wbc/control/main/teleop/run_g1_control_loop.py, the mujoco window oopens but doesnt load. The CLI output is

python gr00t_wbc/control/main/teleop/run_g1_control_loop.py /root/venv/lib/python3.10/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists 1763388671.030490 [0] python: selected interface "lo" is not multicast-capable: disabling multicast [ChannelFactory] create domain error. msg: Occurred upon initialisation of a cyclonedds.domain.Domain Note: Channel factory initialization attempt: channel factory init error. Loading ONNX policy from /root/Projects/GR00T-WholeBodyControl/gr00t_wbc/sim2mujoco/resources/robots/g1/policy/GR00T-WholeBodyControl-Balance.onnx Successfully loaded ONNX policy from /root/Projects/GR00T-WholeBodyControl/gr00t_wbc/sim2mujoco/resources/robots/g1/policy/GR00T-WholeBodyControl-Balance.onnx Loading ONNX policy from /root/Projects/GR00T-WholeBodyControl/gr00t_wbc/sim2mujoco/resources/robots/g1/policy/GR00T-WholeBodyControl-Walk.onnx Successfully loaded ONNX policy from /root/Projects/GR00T-WholeBodyControl/gr00t_wbc/sim2mujoco/resources/robots/g1/policy/GR00T-WholeBodyControl-Walk.onnx ROSManager interrupted by user: Cleaning up... Xlib: extension "NV-GLX" missing on display ":1".
also, could you please explain more about what this is meant to do?

[xdaNvidia]

Hi @abubakr-aqeel , it is display number issue.

Fix:

1. echo $DISPLAY in the host, find the number, maybe ':0`
2. add that in docker, in docker `export DISPLAY=:0"
3. if DISPLAY is null in the host, write export DISPLAY=:1 in the host.

the idea is keep env variable DISPLAY the same in the host and in the docker.

[xdaNvidia]

if it is mujoco problem,

Debug in docker:

1. run nvidia-smi glxinfo | grep "OpenGL renderer" glxinfo should report an NVIDIA renderer, not “llvmpipe” or another software renderer.
2. run python -m mujoco.viewer see if mujoco loaded
   if mujoco still not load, try fix mujoco graphic bug.