Implement CPU based offscreen rendering about sofa_env HOT 3 OPEN

For systems with the Nvidia GPUs and their proprietary driver: make sure to set __GLX_VENDOR_LIBRARY_NAME=mesa

Example to test if LLVMpipe is available (output should be OpenGL renderer string: llvmpipe ...):
__GLX_VENDOR_LIBRARY_NAME=mesa LIBGL_ALWAYS_SOFTWARE=1 GALLIUM_DRIVER=llvmpipe glxinfo | grep "OpenGL renderer"

Command to run glxgears (apt install mesa-utils) with LLVMpipe:
__GLX_VENDOR_LIBRARY_NAME=mesa LIBGL_ALWAYS_SOFTWARE=1 GALLIUM_DRIVER=llvmpipe glxgears

from sofa_env.

Since Gymnasium uses pygame, I took a look, and they use Surface instead of display, when the render_mode is set to rgb_array. Maybe that fixes the issue?

• https://github.com/Farama-Foundation/Gymnasium/blob/main/gymnasium/envs/toy_text/frozen_lake.py#L355
• https://github.com/Farama-Foundation/Gymnasium/blob/main/gymnasium/envs/toy_text/frozen_lake.py#L435

from sofa_env.

Does not work.

[ERROR]   [SofaRuntime] ValueError: vector<bool>::_M_fill_insert
....
    self.sofa_simulation.initVisual(self._sofa_root_node)

from sofa_env.