Add missing Nvidia ICD file for glvnd to enable GPU rendering on Colab.

PiperOrigin-RevId: 541615331
Change-Id: Iff85772bffb245330898e9c2a511d77896bac0cf

python/tutorial.ipynb

@@ -77,12 +77,28 @@
         "from google.colab import files\n",
         "\n",
         "import distutils.util\n",
+        "import os\n",
         "import subprocess\n",
         "if subprocess.run('nvidia-smi').returncode:\n",
         "  raise RuntimeError(\n",
         "      'Cannot communicate with GPU. '\n",
         "      'Make sure you are using a GPU Colab runtime. '\n",
-        "      'Go to the Runtime menu and select Choose runtime type.')",
+        "      'Go to the Runtime menu and select Choose runtime type.')\n",
+        "\n",
+        "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
+        "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
+        "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
+        "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
+        "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
+        "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
+        "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
+        "    f.write(\"\"\"{\n",
+        "    \"file_format_version\" : \"1.0.0\",\n",
+        "    \"ICD\" : {\n",
+        "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
+        "    }\n",
+        "}\n",
+        "\"\"\")\n",
         "\n",
         "# Configure MuJoCo to use the EGL rendering backend (requires GPU)\n",
         "print('Setting environment variable to use GPU rendering:')\n",