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[release-2026.10] Prefer GLFW X11 backend when no Wayland display is set (NVBug 6759666) - #13
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GLFW >= 3.4 built with both Wayland and X11 probes Wayland first when XDG_SESSION_TYPE is unset, so inside Docker libwayland prints "error: XDG_RUNTIME_DIR is invalid or not set in the environment." before GLFW falls back to X11. Hint the X11 platform before every glfwInit() (viewer and camera plugin, which can each carry their own statically linked GLFW) when WAYLAND_DISPLAY is unset. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> (cherry picked from commit 0c75738)
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Summary
Backport of #11 for Isaac ROS
release-2026.10, which pinsb02edd3. This branch isb02edd3+ the GLFW fix only (no impedance work, no upstream sync). Cherry-pick applied cleanly.See #11 for root cause (GLFW 3.4 probes Wayland first when
XDG_SESSION_TYPEis unset; libwayland printsXDG_RUNTIME_DIR is invalid or not setinside Docker).Evidence
b02edd3+ this change, Bazel build ofunitree_g1_controller_manager.launch.py hardware_type:=mujoco initial_controller_group:=agile_velocitywithXDG_RUNTIME_DIR/XDG_SESSION_TYPE/WAYLAND_DISPLAYunset:XDG_RUNTIME_DIR is invalid→2After: →
0; viewer, camera rendering loop and controller switch all start.isaac-ros activatecontainer with debs built fromb02edd3+ this change.Merge Danger
Door: two-way
Blast Radius: small
Only GLFW platform selection when
WAYLAND_DISPLAYis unset.🤖 Generated with Claude Code