在docker a100云服务器运行vulkan-＞sapien-＞robotwin的经验（报错segmentation fault）

本人有将近一周的时间卡在了docker a100云服务器运行sapien报错segmentation fault core dumped或者报错can not find render device，下面是经验。实测发现autodl平台开RTX4090是可以很好的支持vulkan和sapien的。

首先因为是docker云服务器，需要设置docker容器nvidia驱动具有图像渲染功能：

-e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics

要明白的支持链是nvidia driver->vulkan->sapien,vulkan是流行的渲染工具，有替代opengl的可能，sapien是建立在vulkan基础上的3d物体交互平台。

然后还需要按照autodl的说法配置一下vulkan相关的内容：参照下面的文档，注意下面的文档是按照autodl平台root权限编写的，如果不是root权限，则按照如下export ICDfile即可：

export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.x86_64.json

AutoDL帮助文档

配置好后可以检测一下,检查输出如果是下面的内容的话，则说明成功

vulkaninfo --summary

然后可以验证一下sapien的功能,sapien官方文档链接是：https://sapien-sim.github.io/docs/

使用指令为：

python -m sapien.example.hello_world

输出图像则证明正常。

配置完这些之后，再测试robotwin还有可能不正常，比如输出segementation fault,这时候的解决办法就是重新装robotwin环境即可。一个可用的Conda环境（在robotwin RDT eval测试成功）的内容conda list后是：

Name Version Build Channel

_libgcc_mutex 0.1 main

_openmp_mutex 5.1 1_gnu

accelerate 0.30.1 pypi_0 pypi

addict 2.4.0 pypi_0 pypi

annotated-types 0.7.0 pypi_0 pypi

anyio 4.11.0 pypi_0 pypi

aom 3.6.0 h6a678d5_0

asttokens 3.0.0 pypi_0 pypi

attrs 25.4.0 pypi_0 pypi

blas 1.0 openblas

blinker 1.9.0 pypi_0 pypi

brotlicffi 1.0.9.2 py311hbdd6827_2

bzip2 1.0.8 h5eee18b_6

c-ares 1.34.5 hb9d3cd8_0 conda-forge

ca-certificates 2025.11.4 h06a4308_0

cairo 1.18.4 h44eff21_0

cccl 2.7.0 h280d941_0

certifi 2025.10.5 py311h06a4308_0

cffi 2.0.0 py311h4eded50_1

charset-normalizer 3.4.4 py311h06a4308_0

click 8.3.0 pypi_0 pypi

cloudpickle 3.1.2 pypi_0 pypi

cmake 4.1.2 hc85cc9f_0 conda-forge

colorlog 6.10.1 pypi_0 pypi

comm 0.2.3 pypi_0 pypi

configargparse 1.7.1 pypi_0 pypi

contourpy 1.3.3 pypi_0 pypi

cuda-cccl 12.9.27 0 nvidia

cuda-cccl_linux-64 12.9.27 0 nvidia

cuda-command-line-tools 12.4.1 0 nvidia

cuda-compiler 12.6.2 0 nvidia

cuda-cudart 12.4.127 0 nvidia

cuda-cudart-dev 12.4.127 0 nvidia

cuda-cudart-static 12.9.79 0 nvidia

cuda-cudart-static_linux-64 12.9.79 0 nvidia

cuda-cuobjdump 12.9.82 1 nvidia

cuda-cupti 12.4.127 0 nvidia

cuda-cuxxfilt 12.9.82 1 nvidia

cuda-documentation 12.4.127 0 nvidia

cuda-driver-dev 12.9.79 0 nvidia

cuda-driver-dev_linux-64 12.9.79 0 nvidia

cuda-gdb 12.9.79 1 nvidia

cuda-libraries 12.4.1 0 nvidia

cuda-libraries-dev 12.6.2 0 nvidia

cuda-libraries-static 12.9.1 0 nvidia

cuda-nsight 12.9.79 0 nvidia

cuda-nvcc 12.4.131 0 nvidia

cuda-nvdisasm 12.9.88 1 nvidia

cuda-nvml-dev 12.9.79 1 nvidia

cuda-nvprof 12.9.79 0 nvidia

cuda-nvprune 12.9.82 1 nvidia

cuda-nvrtc 12.4.127 0 nvidia

cuda-nvrtc-dev 12.4.127 0 nvidia

cuda-nvrtc-static 12.9.86 0 nvidia

cuda-nvtx 12.4.127 0 nvidia

cuda-nvvp 12.9.79 1 nvidia

cuda-opencl 12.9.19 0 nvidia

cuda-opencl-dev 12.9.19 0 nvidia

cuda-profiler-api 12.9.79 0 nvidia

cuda-runtime 12.4.1 0 nvidia

cuda-sanitizer-api 12.9.79 1 nvidia

cuda-toolkit 12.4.1 0 nvidia

cuda-tools 12.4.1 0 nvidia

cuda-version 12.9 3 nvidia

cuda-visual-tools 12.6.2 0 nvidia

curobo 0.2 pypi_0 pypi

cycler 0.12.1 pypi_0 pypi

cyrus-sasl 2.1.28 h1110e0f_3

dash 3.2.0 pypi_0 pypi

dav1d 1.2.1 h5eee18b_0

dbus 1.16.2 h5bd4931_0

decorator 5.2.1 pypi_0 pypi

deepspeed 0.14.2 pypi_0 pypi

diffusers 0.27.2 pypi_0 pypi

docker-pycreds 0.4.0 pypi_0 pypi

eigen 3.4.0 h171cf75_1 conda-forge

embreex 2.17.7.post7 pypi_0 pypi

executing 2.2.1 pypi_0 pypi

expat 2.7.1 hecca717_0 conda-forge

farama-notifications 0.0.4 pypi_0 pypi

fastjsonschema 2.21.2 pypi_0 pypi

ffmpeg 4.2.2 h20bf706_0

filelock 3.20.0 py311h06a4308_0

flask 3.1.2 pypi_0 pypi

fontconfig 2.15.0 h2c49b7f_0

fonttools 4.60.1 pypi_0 pypi

freetype 2.13.3 h4a9f257_0

fribidi 1.0.10 h7b6447c_0

fsspec 2025.10.0 pypi_0 pypi

gds-tools 1.14.1.1 4 nvidia

giflib 5.2.2 h5eee18b_0

gitdb 4.0.12 pypi_0 pypi

gitpython 3.1.45 pypi_0 pypi

glew 2.2.0 h3abd4de_0 conda-forge

glfw 3.4 hb03c661_1 conda-forge

glib 2.84.4 h5bdd934_0

glib-tools 2.84.4 h8875d55_0

gmp 6.3.0 h6a678d5_0

gmpy2 2.2.1 py311h5eee18b_0

gnutls 3.6.15 he1e5248_0

graphite2 1.3.14 h295c915_1

gst-plugins-base 1.14.1 h6a678d5_1

gstreamer 1.14.1 h5eee18b_1

gymnasium 1.2.2 pypi_0 pypi

h11 0.16.0 pypi_0 pypi

h5py 3.11.0 pypi_0 pypi

harfbuzz 4.3.0 hf52aaf7_2

hdf5 1.12.1 h2b7332f_3

hf-xet 1.2.0 pypi_0 pypi

hjson 3.1.0 pypi_0 pypi

httpcore 1.0.9 pypi_0 pypi

httpx 0.28.1 pypi_0 pypi

huggingface-hub 0.23.0 pypi_0 pypi

icu 73.1 h6a678d5_0

idna 3.11 py311h06a4308_0

imageio 2.37.0 pyhfb79c49_0 conda-forge

imgaug 0.4.0 pypi_0 pypi

importlib-metadata 8.7.0 pypi_0 pypi

importlib-resources 6.5.2 pypi_0 pypi

intel-openmp 2023.0.0 h9e868ea_25371

ipython 9.7.0 pypi_0 pypi

ipython-pygments-lexers 1.1.1 pypi_0 pypi

ipywidgets 8.1.8 pypi_0 pypi

itsdangerous 2.2.0 pypi_0 pypi

jedi 0.19.2 pypi_0 pypi

jinja2 3.1.6 py311h06a4308_0

joblib 1.5.2 pypi_0 pypi

jpeg 9f h5ce9db8_0

jsonschema 4.25.1 pypi_0 pypi

jsonschema-specifications 2025.9.1 pypi_0 pypi

jupyter-core 5.9.1 pypi_0 pypi

jupyterlab-widgets 3.0.16 pypi_0 pypi

keyutils 1.6.3 hb9d3cd8_0 conda-forge

kiwisolver 1.4.9 pypi_0 pypi

krb5 1.20.1 h81ceb04_0 conda-forge

lame 3.100 h7b6447c_0

lazy-loader 0.4 pypi_0 pypi

lcms2 2.15 hfd0df8a_0 conda-forge

ld_impl_linux-64 2.44 h153f514_2

lerc 4.0.0 h6a678d5_0

libabseil 20240116.2 cxx17_he02047a_1 conda-forge

libavif 1.1.1 h5eee18b_0

libclang 14.0.6 default_h7634d5b_1 conda-forge

libclang13 14.0.6 default_h9986a30_1 conda-forge

libcublas 12.4.5.8 0 nvidia

libcublas-dev 12.4.5.8 0 nvidia

libcublas-static 12.9.1.4 0 nvidia

libcufft 11.2.1.3 0 nvidia

libcufft-dev 11.2.1.3 0 nvidia

libcufft-static 11.4.1.4 0 nvidia

libcufile 1.14.1.1 4 nvidia

libcufile-dev 1.14.1.1 4 nvidia

libcufile-static 1.14.1.1 4 nvidia

libcups 2.3.3 h36d4200_3 conda-forge

libcurand 10.3.10.19 0 nvidia

libcurand-dev 10.3.10.19 0 nvidia

libcurand-static 10.3.10.19 0 nvidia

libcurl 8.16.0 heebcbe5_0

libcusolver 11.6.1.9 0 nvidia

libcusolver-dev 11.6.1.9 0 nvidia

libcusolver-static 11.7.5.82 0 nvidia

libcusparse 12.3.1.170 0 nvidia

libcusparse-dev 12.3.1.170 0 nvidia

libcusparse-static 12.5.10.65 0 nvidia

libdeflate 1.22 h5eee18b_0

libedit 3.1.20250104 pl5321h7949ede_0 conda-forge

libev 4.33 hd590300_2 conda-forge

libevent 2.1.12 hdbd6064_1

libexpat 2.7.1 hecca717_0 conda-forge

libffi 3.4.4 h6a678d5_1

libgcc 15.2.0 h767d61c_7 conda-forge

libgcc-ng 15.2.0 h69a702a_7 conda-forge

libgfortran 15.2.0 h69a702a_7 conda-forge

libgfortran-ng 15.2.0 h69a702a_7 conda-forge

libgfortran5 15.2.0 hcd61629_7 conda-forge

libgl 1.7.0 ha4b6fd6_2 conda-forge

libglib 2.84.4 h77a78f3_0

libglu 9.0.3 h5888daf_1 conda-forge

libglvnd 1.7.0 ha4b6fd6_2 conda-forge

libglx 1.7.0 ha4b6fd6_2 conda-forge

libgomp 15.2.0 h767d61c_7 conda-forge

libiconv 1.16 h5eee18b_3

libidn2 2.3.4 h5eee18b_0

libjpeg-turbo 2.0.0 h9bf148f_0 pytorch

libkrb5 1.21.3 h520c7b4_4

libllvm14 14.0.6 hcd5def8_4 conda-forge

liblzma 5.8.1 hb9d3cd8_2 conda-forge

liblzma-devel 5.8.1 hb9d3cd8_2 conda-forge

libnghttp2 1.57.0 h2d74bed_0

libnpp 12.2.5.30 0 nvidia

libnpp-dev 12.2.5.30 0 nvidia

libnpp-static 12.4.1.87 0 nvidia

libnsl 2.0.0 h5eee18b_0

libnvfatbin 12.9.82 0 nvidia

libnvfatbin-dev 12.9.82 0 nvidia

libnvfatbin-static 12.9.82 0 nvidia

libnvjitlink 12.4.127 0 nvidia

libnvjitlink-dev 12.4.127 0 nvidia

libnvjitlink-static 12.9.86 0 nvidia

libnvjpeg 12.3.1.117 0 nvidia

libnvjpeg-dev 12.3.1.117 0 nvidia

libnvjpeg-static 12.4.0.76 0 nvidia

libopenblas 0.3.30 h46f56fc_0

libopengl 1.7.0 ha4b6fd6_2 conda-forge

libopenjpeg 2.5.4 hee96239_1

libopus 1.3.1 h5eee18b_1

libpng 1.6.50 h2ed474d_0

libpq 17.6 ha51bf15_0

libprotobuf 4.25.3 hd5b35b9_1 conda-forge

libsodium 1.0.20 h4ab18f5_0 conda-forge

libssh2 1.11.1 h251f7ec_0

libstdcxx 15.2.0 h8f9b012_7 conda-forge

libstdcxx-ng 15.2.0 h4852527_7 conda-forge

libtasn1 4.20.0 ha30cf84_0

libtiff 4.5.1 hffd6297_1

libunistring 0.9.10 h27cfd23_0

libuuid 1.41.5 h5eee18b_0

libuv 1.51.0 hb03c661_1 conda-forge

libvpx 1.7.0 h439df22_0

libvulkan-loader 1.4.328.1 h5279c79_0 conda-forge

libwebp 1.3.2 h11a3e52_0

libwebp-base 1.3.2 h5eee18b_1

libxcb 1.17.0 h9b100fa_0

libxkbcommon 1.11.0 he8b52b9_0 conda-forge

libxml2 2.13.9 h2c43086_0

libzlib 1.3.1 hb25bd0a_0

llvm-openmp 14.0.6 h9e868ea_0

lmdb 0.9.31 hd590300_1 conda-forge

lxml 6.0.2 pypi_0 pypi

lz4-c 1.9.4 h6a678d5_1

manifold3d 3.2.1 pypi_0 pypi

mapbox-earcut 1.0.3 pypi_0 pypi

markupsafe 3.0.2 py311h5eee18b_0

matplotlib 3.10.7 pypi_0 pypi

matplotlib-inline 0.2.1 pypi_0 pypi

mkl 2023.0.0 h6d00ec8_25399

mkl-service 2.4.0 py311h5eee18b_0

mkl_fft 1.3.1 py311h30b3d60_0

mkl_random 1.2.2 py311hba01205_0

mpc 1.3.1 h5eee18b_0

mpfr 4.2.1 h5eee18b_0

mplib 0.2.1 pypi_0 pypi

mpmath 1.3.0 py311h06a4308_0

mysql 8.4.0 h29a9f33_1

narwhals 2.10.2 pypi_0 pypi

nbformat 5.10.4 pypi_0 pypi

ncurses 6.5 h7934f7d_0

nest-asyncio 1.6.0 pypi_0 pypi

nettle 3.7.3 hbbd107a_1

networkx 3.4.2 py311h06a4308_0

ninja 1.13.0 pypi_0 pypi

nsight-compute 2025.2.1.3 0 nvidia

nspr 4.37 h8459abe_0

nss 3.117 h3135ca0_0

numpy 1.26.4 py311hc213724_1

numpy-base 1.26.4 py311hf387b04_1

numpy-quaternion 2024.0.12 pypi_0 pypi

nvidia-curobo 0.0.0 pypi_0 pypi

nvidia-ml-py 13.580.82 pypi_0 pypi

ocl-icd 2.3.2 h5eee18b_1

open3d 0.19.0 pypi_0 pypi

opencv 4.10.0 py311hab19f7d_0

openh264 2.1.1 h4ff587b_0

openjpeg 2.5.0 hfec8fc6_2 conda-forge

openldap 2.6.10 he9288cc_1

openssl 3.0.18 hd6dcaed_0

packaging 24.0 pypi_0 pypi

pandas 2.3.3 pypi_0 pypi

parso 0.8.5 pypi_0 pypi

pcre2 10.46 hf426167_0

pexpect 4.9.0 pypi_0 pypi

pillow 11.0.0 py311hfdbf927_0

pip 25.2 pyhc872135_1

pixman 0.46.4 h7934f7d_0

platformdirs 4.5.0 pypi_0 pypi

plotly 6.4.0 pypi_0 pypi

prompt-toolkit 3.0.52 pypi_0 pypi

protobuf 4.25.8 pypi_0 pypi

psutil 7.1.3 pypi_0 pypi

pthread-stubs 0.3 h0ce48e5_1

ptyprocess 0.7.0 pypi_0 pypi

pure-eval 0.2.3 pypi_0 pypi

py-cpuinfo 9.0.0 pypi_0 pypi

pybind11 3.0.1 pyh7a1b43c_0 conda-forge

pybind11-global 3.0.1 pyhc7ab6ef_0 conda-forge

pycollada 0.9.2 pypi_0 pypi

pycparser 2.23 py311h06a4308_0

pydantic 2.12.4 pypi_0 pypi

pydantic-core 2.41.5 pypi_0 pypi

pygments 2.19.2 pypi_0 pypi

pynvml 13.0.1 pypi_0 pypi

pyparsing 3.2.5 pypi_0 pypi

pyperclip 1.11.0 pypi_0 pypi

pyquaternion 0.9.9 pypi_0 pypi

pysocks 1.7.1 py311h06a4308_1

python 3.11.14 h6fa692b_0

python-dateutil 2.9.0.post0 pypi_0 pypi

pytorch 2.5.1 py3.11_cuda12.4_cudnn9.1.0_0 pytorch

pytorch-cuda 12.4 hc786d27_7 pytorch

pytorch-mutex 1.0 cuda pytorch

pytz 2025.2 pypi_0 pypi

pyyaml 6.0.2 py311h5eee18b_0

qt-main 5.15.2 hb6262e9_12

readline 8.3 hc2a1206_0

referencing 0.37.0 pypi_0 pypi

regex 2025.11.3 pypi_0 pypi

requests 2.32.5 py311h06a4308_1

retrying 1.4.2 pypi_0 pypi

rhash 1.4.6 hb9d3cd8_1 conda-forge

rpds-py 0.28.0 pypi_0 pypi

rtree 1.4.1 pypi_0 pypi

safetensors 0.6.2 pypi_0 pypi

sapien 3.0.1 pypi_0 pypi

scikit-image 0.25.2 pypi_0 pypi

scikit-learn 1.7.2 pypi_0 pypi

scipy 1.16.3 pypi_0 pypi

sentencepiece 0.2.0 pypi_0 pypi

sentry-sdk 2.43.0 pypi_0 pypi

setproctitle 1.3.7 pypi_0 pypi

setuptools 80.9.0 py311h06a4308_0

setuptools-scm 9.2.2 pypi_0 pypi

shapely 2.1.2 pypi_0 pypi

shellingham 1.5.4 pypi_0 pypi

six 1.17.0 py311h06a4308_0

smmap 5.0.2 pypi_0 pypi

sniffio 1.3.1 pypi_0 pypi

sqlite 3.51.0 h2a70700_0

stack-data 0.6.3 pypi_0 pypi

svg-path 7.0 pypi_0 pypi

sympy 1.13.1 pypi_0 pypi

tbb 2021.8.0 hdb19cb5_0

tbb-devel 2021.8.0 hdb19cb5_0

threadpoolctl 3.6.0 pypi_0 pypi

tifffile 2025.10.16 pypi_0 pypi

timm 1.0.3 pypi_0 pypi

tk 8.6.15 h54e0aa7_0

tokenizers 0.19.1 pypi_0 pypi

toppra 0.6.3 pypi_0 pypi

torchaudio 2.5.1 py311_cu124 pytorch

torchtriton 3.1.0 py311 pytorch

torchvision 0.20.1 py311_cu124 pytorch

tqdm 4.67.1 pypi_0 pypi

traitlets 5.14.3 pypi_0 pypi

transformers 4.41.0 pypi_0 pypi

transforms3d 0.4.2 pypi_0 pypi

trimesh 4.9.0 pypi_0 pypi

typer-slim 0.20.0 pypi_0 pypi

typing-inspection 0.4.2 pypi_0 pypi

typing_extensions 4.15.0 py311h06a4308_0

tzdata 2025.2 pypi_0 pypi

urllib3 2.5.0 py311h06a4308_0

vhacdx 0.0.9 pypi_0 pypi

vulkan-headers 1.3.231.1 h924138e_0 conda-forge

vulkan-tools 1.4.328.1 h215f996_0 conda-forge

wandb 0.17.0 pypi_0 pypi

warp-lang 1.10.0 pypi_0 pypi

wayland 1.24.0 hdac8c69_0

wcwidth 0.2.14 pypi_0 pypi

werkzeug 3.1.3 pypi_0 pypi

wheel 0.45.1 py311h06a4308_0

widgetsnbextension 4.0.15 pypi_0 pypi

x264 1!157.20191217 h7b6447c_0

xkeyboard-config 2.44 h5eee18b_0

xorg-libx11 1.8.12 h9b100fa_1

xorg-libxau 1.0.12 h9b100fa_0

xorg-libxcursor 1.2.3 hb9d3cd8_0 conda-forge

xorg-libxdmcp 1.1.5 h9b100fa_0

xorg-libxext 1.3.6 h9b100fa_0

xorg-libxfixes 6.0.2 hb03c661_0 conda-forge

xorg-libxi 1.8.2 hb9d3cd8_0 conda-forge

xorg-libxinerama 1.1.5 h5888daf_1 conda-forge

xorg-libxrandr 1.5.4 hb9d3cd8_0 conda-forge

xorg-libxrender 0.9.12 h9b100fa_0

xorg-xorgproto 2024.1 h5eee18b_1

xxhash 3.6.0 pypi_0 pypi

xz 5.8.1 hbcc6ac9_2 conda-forge

xz-gpl-tools 5.8.1 hbcc6ac9_2 conda-forge

xz-tools 5.8.1 hb9d3cd8_2 conda-forge

yaml 0.2.5 h7b6447c_0

yourdfpy 0.0.58 pypi_0 pypi

zipp 3.23.0 pypi_0 pypi

zlib 1.3.1 hb25bd0a_0

zstd 1.5.7 h11fc155_0