VNC server will create a virtual display in the container to run Webots headless. This example is for an remote SSH server, but it should be equivalent to a Docker container.
#Webots academic lisence how to
These instructions explain how to use it to start Webots headless (see jumax-cpu section). It is possible to launch it with the -minimize option, so that it doesn't show-up at launch.Ĭoncerning full headless mode with GPU acceleration, there is the possibility to use VNC server. Instructions in the Webots documentation ( ) show how to run Webots with hardware 3D acceleration in a Docker container. However, it won't take advantage of the GPU, as hardware acceleration is not supported by Xvfb. Using xvfb-run to run Webots headless in the Docker is the recommended option. You are right that the GPU allows to speed-up all the rendering part, including cameras. Some use cases are running Webots containers through CI/CD on headless servers. WARNING: Cannot initialize the sound engine: Cannot initialize OpenAL default device 'OpenAL Soft'Īre there any ways of using hardware acceleration in the headless mode? You can try to re-activate some OpenGL features from the Webots preferences. Anisotropic texture filtering is not supported by the GPU. Texture maximum filtering has been reduced due to GPU limitations. Main 3D view global ambient occlusion has been de-activated. Webots will run much faster after the installation of the correct driver.
#Webots academic lisence install
It is strongly recommended to install the latest graphics drivers provided by your GPU manufacturer. Webots has detected that your computer uses a slow 3D software rendering system. A recent NVIDIA or AMD graphics adapter is highly recommended to run Webots smoothly. Webots has detected that your GPU vendor is 'Mesa/X.org'. WARNING: System below the minimal requirements. WARNING: It is not recommended to run Webots as root. Xvfb-run webots -stdout -stderr -batch -mode=fast /usr/local/webots/projects/robots/clearpath/moose/worlds/moose_demo.wbt With GUI + GPU in docker, I don't get warnings or it runs nearly as fast as a native installation. You can see that Webots warns that the system is below minimum. I believe that GPUs will speed up the simulations for cameras and video recordings, so in that case, I'd like to use GPUs in the headless. This is, to my knowledge, because xvfb will use software acceleration. This seems to launch Webots without GPUs (hardware acceleration). Xvfb-run webots -stdout -stderr -batch -mode=realtime /path/to/your/world/file In the headless mode, if we make gpus available to the docker container as follows docker run -gpus=all -it cyberbotics/webots:latest I have tested Webots headless mode in docker as described here in Ubuntu 20.04.
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