EuslispのGUI画面が表示されない

[HisaakiIida]

Euslispを家のPCで起動しようとしたところ、下記エラーメッセージのあとに(full-body-ik)などの一覧が出力されました。

configuring by "/opt/ros/noetic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin
No protocol specified
Xserver connection failed;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb
;; extending gcstack 0x5598df2bf680[16374] --> 0x5598df71abf0[32748] top=3d4b
irtgl irtglc irtviewer
EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-5(Tue Jun 20 10:34:21 PST 2023)
;; no display is found. exit from (make-irtviewer)
;; no display is found. exit from (make-irtviewer)

その状態でfull-body-ikを試してみると、

loop: 0
union-link-list: (:torso-link0 :torso-link1 :larm-link0 :larm-link1 :larm-link2 :larm-link3 :larm-link4 :larm-link5 :larm-link6)
move-target: (#<cascaded-coords #X5598df842678 -9.936 -17.568 1376.588 / 1.055 -1.409 -1.606>)
targe-coordst: (#<coordinates #X5598df335428 0.0 0.0 1500.0 / 0.0 0.0 0.0>)
vel-pos :100.000 0.000 0.025
vel-rot :
vel-pos-norm : 100.000/ 1.000
vel-rot-norm : 0.000/ 0.017
collision-links : (:waist :torso-link1 :larm-link3 :rarm-link3)
parnet-links : (nil :waist :larm-link2 :rarm-link2)
valid-link-list : (:torso-link1 :larm-link0 :larm-link1 :larm-link2 :larm-link3 :larm-link4 :larm-link5 :larm-link6)
index-links : (nil 0 4 nil)
angle : -33.1 -14.6 -150.0 23.9 -1.3 -13.3 4.3 0.1 1.1
min : -45.0 -90.0 -150.0 -30.0 -90.0 -180.0 -90.0 -90.0 -90.0
max : 45.0 90.0 150.0 180.0 90.0 0.0 90.0 90.0 90.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 8.893 0.218 4297.135 0.911 0.018 14.492 0.062 0.001 0.016
cost : 8.893 0.218 4297.135 0.911 0.018 14.493 0.062 0.001 0.016
weight: 0.101 1.000 0.000 0.523 0.982 0.065 1.000 1.000 1.000
k : 0.031 (manipulability: 0.021, gain: 0.050, limit: 0.100, len:9)
col-distance : 129.799(<200.000) #f( 0.285 0.685 0.671 ) (:torso-link1 :rarm-link3)
col-distance : 233.029(<200.000) #f( -0.252 -0.240 -0.938 ) (:torso-link1 :larm-link3)
col-distance : 436.465(<200.000) #f( 0.095 0.108 0.990 ) (:larm-link3 :waist)
col-distance : 647.365(<200.000) #f( 0.298 0.386 0.873 ) (:larm-link3 :rarm-link3)
coljnt: -0.000 0.001 0.000 0.000 0.000 0.000 0.000 0.000 0.000
colnul: -0.000 0.001 0.000 0.000 0.000 0.000 0.000 0.000 0.000
colvel: -0.000 0.001 0.000 0.000 0.000 0.000 0.000 0.000 0.000
blend : 0.390
nspace: 0.031 0.001 0.000 0.071 0.000 -0.027 -0.001 -0.000 -0.000
J : -0.003 -0.000 -0.050 -0.001 -0.000 0.004 -0.000 0.000 -0.000
0.042 -0.026 0.003 0.513 0.055 0.018 -0.001 0.050 0.000
0.356 -0.649 -0.471 0.027 0.004 -0.244 -0.000 -0.000 -0.050
d(JJt): 0.000
J#t : -0.008 -0.007 -0.000 -0.004 0.003 0.008 -0.000 0.003 -0.000
0.013 0.054 0.000 1.538 0.311 0.012 -0.005 0.287 0.015
0.075 -1.377 -0.000 -0.052 -0.008 -0.034 0.000 -0.015 -0.107
x : 0.100 0.000 0.000
J#x : -0.048 -0.042 -0.002 -0.024 0.018 0.044 -0.000 0.017 -0.002
aspeed: -0.000 0.001 0.000 0.000 0.000 0.000 0.000 0.000 0.000
J#x : -0.029 -0.025 -0.001 -0.015 0.011 0.027 -0.000 0.010 -0.001
Ny : 0.029 0.025 0.000 0.015 -0.011 -0.027 -0.001 -0.010 0.001
dav : 0.000 -0.000 -0.001 0.000 -0.000 0.000 -0.001 -0.000 -0.000
dav^ : 0.000 -0.000 -0.001 0.000 -0.000 0.000 -0.001 -0.000 -0.000
;; (window-main-one nil) was called, but no display is found.

というエラーメッセージが繰り返し出力され、GUIの画面が表示されません。
いろいろと調べてX11やDISPLAY環境変数の変更なども試してみましたが、改善するようすがないので質問させていただきます。

[k-okada]

環境は何を使っていますか？ linux? windows + wsl ? mac + docker ? ???

[HisaakiIida]

linuxで、学科PCと同じubuntu 20.04を使っています。

[k-okada]

sudo apt install -y mesa-utils
DISPLAY=:0.0 glxinfo

の結果をすべて貼り付けてください。

[HisaakiIida]

Invalid MIT-MAGIC-COOKIE-1 keyError: unable to open display :0.0
と出ました。

[k-okada]

この時の画面全体のキャプチャを張ってみてください。 -- ◉ Kei Okada 2023年11月19日(日) 15:47 HisaakiIida ***@***.***>:

…

Invalid MIT-MAGIC-COOKIE-1 keyError: unable to open display :0.0 と出ました。 — Reply to this email directly, view it on GitHub <#639 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXCFSMIJGNZYTALPGXTYFGTMTAVCNFSM6AAAAAA7RDS75CVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMJXG43DKNJTHA> . You are receiving this because you commented.Message ID: ***@***.***>

[HisaakiIida]

こちらです

[k-okada]

xhost + としてから、もう一度 DISPLAY=:0.0 glxinfo をしてみてください。 -- ◉ Kei Okada 2023年11月19日(日) 16:27 HisaakiIida ***@***.***>:

…

[image: 56A4D773-A483-461B-BDA3-A4C5574DB6B3_1_201_a] <https://user-images.githubusercontent.com/147042983/284043298-1337dc87-91bf-407a-b50f-8061904a64b6.png> こちらです — Reply to this email directly, view it on GitHub <#639 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXC74ZOAD4WRZLMTKMLYFGYFVAVCNFSM6AAAAAA7RDS75CVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMJXG43TGMRUGQ> . You are receiving this because you commented.Message ID: ***@***.***>

[HisaakiIida]

変わらずInvalid MIT-MAGIC-COOKIE-1 keyError: unable to open display :0.0が表示されます。

[k-okada]

xhost としたときの画面のキャプチャを送ってください -- ◉ Kei Okada 2023年11月19日(日) 16:37 HisaakiIida ***@***.***>:

…

変わらずInvalid MIT-MAGIC-COOKIE-1 keyError: unable to open display :0.0が表示されます。 — Reply to this email directly, view it on GitHub <#639 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXCU6YAEPK6GEVHLBKTYFGZKHAVCNFSM6AAAAAA7RDS75CVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMJXG43TKMJUHA> . You are receiving this because you commented.Message ID: ***@***.***>

[HisaakiIida]

access control disabled, clients can connect from any host
とだけ表示されています。

[k-okada]

cat /etc/hosts
hostname
の出力をキャプチャして送ってください

[HisaakiIida]

こちらです

[k-okada]

問題ないように見えますね。
cat /var/log/Xorg.0.log
と
env
の出力もすべて送ってください。

[HisaakiIida]

$ env
SHELL=/bin/bash
ROS_VERSION=1
SESSION_MANAGER=local/kokumapc:@/tmp/.ICE-unix/1992,unix/kokumapc:/tmp/.ICE-unix/1992
QT_ACCESSIBILITY=1
COLORTERM=truecolor
XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
XDG_MENU_PREFIX=gnome-
GNOME_DESKTOP_SESSION_ID=this-is-deprecated
PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/x86_64-linux-gnu/pkgconfig
ROS_PYTHON_VERSION=3
GNOME_SHELL_SESSION_MODE=ubuntu
SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
XMODIFIERS=@im=ibus
DESKTOP_SESSION=ubuntu
SSH_AGENT_PID=1890
ROS_PACKAGE_PATH=/opt/ros/noetic/share
GTK_MODULES=gail:atk-bridge
ROSLISP_PACKAGE_DIRECTORIES=
PWD=/home/hisaakiiida
LOGNAME=hisaakiiida
XDG_SESSION_DESKTOP=ubuntu
XDG_SESSION_TYPE=x11
GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
XAUTHORITY=/run/user/1000/gdm/Xauthority
GJS_DEBUG_TOPICS=JS ERROR;JS LOG
WINDOWPATH=2
HOME=/home/hisaakiiida
USERNAME=hisaakiiida
IM_CONFIG_PHASE=1
LANG=ja_JP.UTF-8
ROS_ETC_DIR=/opt/ros/noetic/etc/ros
LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35:.mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:*.xspf=00;36:
XDG_CURRENT_DESKTOP=ubuntu:GNOME
VTE_VERSION=6003
CMAKE_PREFIX_PATH=/opt/ros/noetic
GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/34a53313_cf88_49d5_99a8_a704097867a0
INVOCATION_ID=729a5ab6255b4dc680ab520b8e28f68b
MANAGERPID=1711
GJS_DEBUG_OUTPUT=stderr
LESSCLOSE=/usr/bin/lesspipe %s %s
XDG_SESSION_CLASS=user
PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
TERM=xterm-256color
LESSOPEN=| /usr/bin/lesspipe %s
USER=hisaakiiida
GNOME_TERMINAL_SERVICE=:1.128
DISPLAY=:1
SHLVL=1
ROS_MASTER_URI=http://localhost:11311
QT_IM_MODULE=ibus
LD_LIBRARY_PATH=/opt/ros/noetic/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu
XDG_RUNTIME_DIR=/run/user/1000
ARCHDIR=Linux64
EUSDIR=/opt/ros/noetic/share/euslisp/jskeus/eus/
JOURNAL_STREAM=8:47903
XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
PATH=/opt/ros/noetic/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
GDMSESSION=ubuntu
DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
ROS_ROOT=/opt/ros/noetic/share/ros
ROS_DISTRO=noetic
_=/usr/bin/env

[k-okada]

glxinfo
だけをするとどうなりますか？

[HisaakiIida]

~$ glxinfo
name of display: :1
display: :1 screen: 0
direct rendering: Yes
server glx vendor string: SGI
server glx version string: 1.4
server glx extensions:
GLX_ARB_context_flush_control, GLX_ARB_create_context,
GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile,
GLX_ARB_fbconfig_float, GLX_ARB_framebuffer_sRGB, GLX_ARB_multisample,
GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile,
GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB,
GLX_EXT_import_context, GLX_EXT_libglvnd, GLX_EXT_no_config_context,
GLX_EXT_texture_from_pixmap, GLX_EXT_visual_info, GLX_EXT_visual_rating,
GLX_MESA_copy_sub_buffer, GLX_OML_swap_method, GLX_SGIS_multisample,
GLX_SGIX_fbconfig, GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
GLX_SGI_make_current_read
client glx vendor string: Mesa Project and SGI
client glx version string: 1.4
client glx extensions:
GLX_ARB_context_flush_control, GLX_ARB_create_context,
GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile,
GLX_ARB_create_context_robustness, GLX_ARB_fbconfig_float,
GLX_ARB_framebuffer_sRGB, GLX_ARB_get_proc_address, GLX_ARB_multisample,
GLX_ATI_pixel_format_float, GLX_EXT_buffer_age,
GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile,
GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB,
GLX_EXT_import_context, GLX_EXT_no_config_context, GLX_EXT_swap_control,
GLX_EXT_swap_control_tear, GLX_EXT_texture_from_pixmap,
GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_INTEL_swap_event,
GLX_MESA_copy_sub_buffer, GLX_MESA_multithread_makecurrent,
GLX_MESA_query_renderer, GLX_MESA_swap_control, GLX_NV_float_buffer,
GLX_OML_swap_method, GLX_OML_sync_control, GLX_SGIS_multisample,
GLX_SGIX_fbconfig, GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
GLX_SGI_make_current_read, GLX_SGI_swap_control, GLX_SGI_video_sync
GLX version: 1.4
GLX extensions:
GLX_ARB_context_flush_control, GLX_ARB_create_context,
GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile,
GLX_ARB_fbconfig_float, GLX_ARB_framebuffer_sRGB,
GLX_ARB_get_proc_address, GLX_ARB_multisample,
GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile,
GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB,
GLX_EXT_import_context, GLX_EXT_no_config_context,
GLX_EXT_texture_from_pixmap, GLX_EXT_visual_info, GLX_EXT_visual_rating,
GLX_MESA_copy_sub_buffer, GLX_MESA_query_renderer, GLX_OML_swap_method,
GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_pbuffer,
GLX_SGIX_visual_select_group, GLX_SGI_make_current_read
Extended renderer info (GLX_MESA_query_renderer):
Vendor: Mesa/X.org (0xffffffff)
Device: llvmpipe (LLVM 12.0.0, 256 bits) (0xffffffff)
Version: 21.2.6
Accelerated: no
Video memory: 31830MB
Unified memory: no
Preferred profile: core (0x1)
Max core profile version: 4.5
Max compat profile version: 3.1
Max GLES1 profile version: 1.1
Max GLES[23] profile version: 3.2
OpenGL vendor string: Mesa/X.org
OpenGL renderer string: llvmpipe (LLVM 12.0.0, 256 bits)
OpenGL core profile version string: 4.5 (Core Profile) Mesa 21.2.6
OpenGL core profile shading language version string: 4.50
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
GL_3DFX_texture_compression_FXT1, GL_AMD_conservative_depth,
GL_AMD_draw_buffers_blend, GL_AMD_gpu_shader_int64,
GL_AMD_multi_draw_indirect, GL_AMD_query_buffer_object,
GL_AMD_seamless_cubemap_per_texture, GL_AMD_shader_stencil_export,
GL_AMD_shader_trinary_minmax, GL_AMD_texture_texture4,
GL_AMD_vertex_shader_layer, GL_AMD_vertex_shader_viewport_index,
GL_ANGLE_texture_compression_dxt3, GL_ANGLE_texture_compression_dxt5,
GL_ARB_ES2_compatibility, GL_ARB_ES3_1_compatibility,
GL_ARB_ES3_2_compatibility, GL_ARB_ES3_compatibility,
GL_ARB_arrays_of_arrays, GL_ARB_base_instance, GL_ARB_blend_func_extended,
GL_ARB_buffer_storage, GL_ARB_clear_buffer_object, GL_ARB_clear_texture,
GL_ARB_clip_control, GL_ARB_compressed_texture_pixel_storage,
GL_ARB_compute_shader, GL_ARB_conditional_render_inverted,
GL_ARB_conservative_depth, GL_ARB_copy_buffer, GL_ARB_copy_image,
GL_ARB_cull_distance, GL_ARB_debug_output, GL_ARB_depth_buffer_float,
GL_ARB_depth_clamp, GL_ARB_derivative_control, GL_ARB_direct_state_access,
GL_ARB_draw_buffers, GL_ARB_draw_buffers_blend,
GL_ARB_draw_elements_base_vertex, GL_ARB_draw_indirect,
GL_ARB_draw_instanced, GL_ARB_enhanced_layouts,
GL_ARB_explicit_attrib_location, GL_ARB_explicit_uniform_location,
GL_ARB_fragment_coord_conventions, GL_ARB_fragment_layer_viewport,
GL_ARB_fragment_shader, GL_ARB_framebuffer_no_attachments,
GL_ARB_framebuffer_object, GL_ARB_framebuffer_sRGB,
GL_ARB_get_program_binary, GL_ARB_get_texture_sub_image, GL_ARB_gl_spirv,
GL_ARB_gpu_shader5, GL_ARB_gpu_shader_fp64, GL_ARB_gpu_shader_int64,
GL_ARB_half_float_pixel, GL_ARB_half_float_vertex,
GL_ARB_indirect_parameters, GL_ARB_instanced_arrays,
GL_ARB_internalformat_query, GL_ARB_internalformat_query2,
GL_ARB_invalidate_subdata, GL_ARB_map_buffer_alignment,
GL_ARB_map_buffer_range, GL_ARB_multi_bind, GL_ARB_multi_draw_indirect,
GL_ARB_occlusion_query2, GL_ARB_parallel_shader_compile,
GL_ARB_pipeline_statistics_query, GL_ARB_pixel_buffer_object,
GL_ARB_point_sprite, GL_ARB_polygon_offset_clamp,
GL_ARB_post_depth_coverage, GL_ARB_program_interface_query,
GL_ARB_provoking_vertex, GL_ARB_query_buffer_object,
GL_ARB_robust_buffer_access_behavior, GL_ARB_robustness,
GL_ARB_sample_shading, GL_ARB_sampler_objects, GL_ARB_seamless_cube_map,
GL_ARB_seamless_cubemap_per_texture, GL_ARB_separate_shader_objects,
GL_ARB_shader_atomic_counter_ops, GL_ARB_shader_atomic_counters,
GL_ARB_shader_bit_encoding, GL_ARB_shader_draw_parameters,
GL_ARB_shader_group_vote, GL_ARB_shader_image_load_store,
GL_ARB_shader_image_size, GL_ARB_shader_objects, GL_ARB_shader_precision,
GL_ARB_shader_stencil_export, GL_ARB_shader_storage_buffer_object,
GL_ARB_shader_subroutine, GL_ARB_shader_texture_image_samples,
GL_ARB_shader_texture_lod, GL_ARB_shader_viewport_layer_array,
GL_ARB_shading_language_420pack, GL_ARB_shading_language_include,
GL_ARB_shading_language_packing, GL_ARB_spirv_extensions,
GL_ARB_stencil_texturing, GL_ARB_sync, GL_ARB_tessellation_shader,
GL_ARB_texture_barrier, GL_ARB_texture_buffer_object,
GL_ARB_texture_buffer_object_rgb32, GL_ARB_texture_buffer_range,
GL_ARB_texture_compression_bptc, GL_ARB_texture_compression_rgtc,
GL_ARB_texture_cube_map_array, GL_ARB_texture_filter_minmax,
GL_ARB_texture_float, GL_ARB_texture_gather,
GL_ARB_texture_mirror_clamp_to_edge, GL_ARB_texture_multisample,
GL_ARB_texture_non_power_of_two, GL_ARB_texture_query_levels,
GL_ARB_texture_query_lod, GL_ARB_texture_rectangle, GL_ARB_texture_rg,
GL_ARB_texture_rgb10_a2ui, GL_ARB_texture_stencil8,
GL_ARB_texture_storage, GL_ARB_texture_storage_multisample,
GL_ARB_texture_swizzle, GL_ARB_texture_view, GL_ARB_timer_query,
GL_ARB_transform_feedback2, GL_ARB_transform_feedback3,
GL_ARB_transform_feedback_instanced,
GL_ARB_transform_feedback_overflow_query, GL_ARB_uniform_buffer_object,
GL_ARB_vertex_array_bgra, GL_ARB_vertex_array_object,
GL_ARB_vertex_attrib_64bit, GL_ARB_vertex_attrib_binding,
GL_ARB_vertex_buffer_object, GL_ARB_vertex_shader,
GL_ARB_vertex_type_10f_11f_11f_rev, GL_ARB_vertex_type_2_10_10_10_rev,
GL_ARB_viewport_array, GL_ATI_blend_equation_separate,
GL_ATI_texture_float, GL_ATI_texture_mirror_once,
GL_EXT_EGL_image_storage, GL_EXT_EGL_sync, GL_EXT_abgr,
GL_EXT_blend_equation_separate, GL_EXT_draw_buffers2,
GL_EXT_draw_instanced, GL_EXT_framebuffer_blit,
GL_EXT_framebuffer_multisample, GL_EXT_framebuffer_multisample_blit_scaled,
GL_EXT_framebuffer_object, GL_EXT_framebuffer_sRGB,
GL_EXT_packed_depth_stencil, GL_EXT_packed_float,
GL_EXT_pixel_buffer_object, GL_EXT_polygon_offset_clamp,
GL_EXT_provoking_vertex, GL_EXT_shader_framebuffer_fetch_non_coherent,
GL_EXT_shader_integer_mix, GL_EXT_texture_array,
GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_rgtc,
GL_EXT_texture_compression_s3tc, GL_EXT_texture_filter_minmax,
GL_EXT_texture_integer, GL_EXT_texture_mirror_clamp, GL_EXT_texture_sRGB,
GL_EXT_texture_sRGB_R8, GL_EXT_texture_sRGB_decode,
GL_EXT_texture_shadow_lod, GL_EXT_texture_shared_exponent,
GL_EXT_texture_snorm, GL_EXT_texture_swizzle, GL_EXT_timer_query,
GL_EXT_transform_feedback, GL_EXT_vertex_array_bgra,
GL_EXT_vertex_attrib_64bit, GL_IBM_multimode_draw_arrays,
GL_KHR_blend_equation_advanced, GL_KHR_context_flush_control,
GL_KHR_debug, GL_KHR_no_error, GL_KHR_parallel_shader_compile,
GL_KHR_robust_buffer_access_behavior, GL_KHR_robustness,
GL_KHR_texture_compression_astc_ldr,
GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_framebuffer_flip_y,
GL_MESA_pack_invert, GL_MESA_shader_integer_functions,
GL_MESA_texture_signed_rgba, GL_MESA_ycbcr_texture,
GL_NV_conditional_render, GL_NV_copy_image, GL_NV_depth_clamp,
GL_NV_packed_depth_stencil, GL_NV_texture_barrier, GL_OES_EGL_image,
GL_S3_s3tc

OpenGL version string: 3.1 Mesa 21.2.6
OpenGL shading language version string: 1.40
OpenGL context flags: (none)
OpenGL extensions:
GL_3DFX_texture_compression_FXT1, GL_AMD_conservative_depth,
GL_AMD_draw_buffers_blend, GL_AMD_multi_draw_indirect,
GL_AMD_query_buffer_object, GL_AMD_seamless_cubemap_per_texture,
GL_AMD_shader_stencil_export, GL_AMD_shader_trinary_minmax,
GL_AMD_texture_texture4, GL_ANGLE_texture_compression_dxt3,
GL_ANGLE_texture_compression_dxt5, GL_APPLE_packed_pixels,
GL_ARB_ES2_compatibility, GL_ARB_ES3_compatibility,
GL_ARB_arrays_of_arrays, GL_ARB_base_instance, GL_ARB_blend_func_extended,
GL_ARB_buffer_storage, GL_ARB_clear_buffer_object, GL_ARB_clear_texture,
GL_ARB_clip_control, GL_ARB_color_buffer_float, GL_ARB_compatibility,
GL_ARB_compressed_texture_pixel_storage, GL_ARB_compute_shader,
GL_ARB_conditional_render_inverted, GL_ARB_conservative_depth,
GL_ARB_copy_buffer, GL_ARB_copy_image, GL_ARB_cull_distance,
GL_ARB_debug_output, GL_ARB_depth_buffer_float, GL_ARB_depth_clamp,
GL_ARB_depth_texture, GL_ARB_derivative_control,
GL_ARB_direct_state_access, GL_ARB_draw_buffers,
GL_ARB_draw_buffers_blend, GL_ARB_draw_elements_base_vertex,
GL_ARB_draw_indirect, GL_ARB_draw_instanced, GL_ARB_enhanced_layouts,
GL_ARB_explicit_attrib_location, GL_ARB_explicit_uniform_location,
GL_ARB_fragment_coord_conventions, GL_ARB_fragment_layer_viewport,
GL_ARB_fragment_program, GL_ARB_fragment_program_shadow,
GL_ARB_fragment_shader, GL_ARB_framebuffer_no_attachments,
GL_ARB_framebuffer_object, GL_ARB_framebuffer_sRGB,
GL_ARB_get_program_binary, GL_ARB_get_texture_sub_image, GL_ARB_gl_spirv,
GL_ARB_half_float_pixel, GL_ARB_half_float_vertex,
GL_ARB_indirect_parameters, GL_ARB_instanced_arrays,
GL_ARB_internalformat_query, GL_ARB_internalformat_query2,
GL_ARB_invalidate_subdata, GL_ARB_map_buffer_alignment,
GL_ARB_map_buffer_range, GL_ARB_multi_bind, GL_ARB_multi_draw_indirect,
GL_ARB_multisample, GL_ARB_multitexture, GL_ARB_occlusion_query,
GL_ARB_occlusion_query2, GL_ARB_parallel_shader_compile,
GL_ARB_pipeline_statistics_query, GL_ARB_pixel_buffer_object,
GL_ARB_point_parameters, GL_ARB_point_sprite, GL_ARB_polygon_offset_clamp,
GL_ARB_post_depth_coverage, GL_ARB_program_interface_query,
GL_ARB_provoking_vertex, GL_ARB_query_buffer_object,
GL_ARB_robust_buffer_access_behavior, GL_ARB_robustness,
GL_ARB_sample_shading, GL_ARB_sampler_objects, GL_ARB_seamless_cube_map,
GL_ARB_seamless_cubemap_per_texture, GL_ARB_separate_shader_objects,
GL_ARB_shader_atomic_counter_ops, GL_ARB_shader_atomic_counters,
GL_ARB_shader_bit_encoding, GL_ARB_shader_draw_parameters,
GL_ARB_shader_group_vote, GL_ARB_shader_image_load_store,
GL_ARB_shader_image_size, GL_ARB_shader_objects,
GL_ARB_shader_stencil_export, GL_ARB_shader_storage_buffer_object,
GL_ARB_shader_subroutine, GL_ARB_shader_texture_image_samples,
GL_ARB_shader_texture_lod, GL_ARB_shading_language_100,
GL_ARB_shading_language_420pack, GL_ARB_shading_language_include,
GL_ARB_shading_language_packing, GL_ARB_shadow, GL_ARB_spirv_extensions,
GL_ARB_stencil_texturing, GL_ARB_sync, GL_ARB_texture_barrier,
GL_ARB_texture_border_clamp, GL_ARB_texture_buffer_object,
GL_ARB_texture_buffer_object_rgb32, GL_ARB_texture_buffer_range,
GL_ARB_texture_compression, GL_ARB_texture_compression_bptc,
GL_ARB_texture_compression_rgtc, GL_ARB_texture_cube_map,
GL_ARB_texture_cube_map_array, GL_ARB_texture_env_add,
GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar,
GL_ARB_texture_env_dot3, GL_ARB_texture_filter_minmax,
GL_ARB_texture_float, GL_ARB_texture_gather,
GL_ARB_texture_mirror_clamp_to_edge, GL_ARB_texture_mirrored_repeat,
GL_ARB_texture_multisample, GL_ARB_texture_non_power_of_two,
GL_ARB_texture_query_levels, GL_ARB_texture_query_lod,
GL_ARB_texture_rectangle, GL_ARB_texture_rg, GL_ARB_texture_rgb10_a2ui,
GL_ARB_texture_stencil8, GL_ARB_texture_storage,
GL_ARB_texture_storage_multisample, GL_ARB_texture_swizzle,
GL_ARB_texture_view, GL_ARB_timer_query, GL_ARB_transform_feedback2,
GL_ARB_transform_feedback3, GL_ARB_transform_feedback_instanced,
GL_ARB_transform_feedback_overflow_query, GL_ARB_transpose_matrix,
GL_ARB_uniform_buffer_object, GL_ARB_vertex_array_bgra,
GL_ARB_vertex_array_object, GL_ARB_vertex_attrib_binding,
GL_ARB_vertex_buffer_object, GL_ARB_vertex_program, GL_ARB_vertex_shader,
GL_ARB_vertex_type_10f_11f_11f_rev, GL_ARB_vertex_type_2_10_10_10_rev,
GL_ARB_viewport_array, GL_ARB_window_pos, GL_ATI_blend_equation_separate,
GL_ATI_draw_buffers, GL_ATI_fragment_shader, GL_ATI_separate_stencil,
GL_ATI_texture_compression_3dc, GL_ATI_texture_env_combine3,
GL_ATI_texture_float, GL_ATI_texture_mirror_once,
GL_EXT_EGL_image_storage, GL_EXT_EGL_sync, GL_EXT_abgr, GL_EXT_bgra,
GL_EXT_blend_color, GL_EXT_blend_equation_separate,
GL_EXT_blend_func_separate, GL_EXT_blend_minmax, GL_EXT_blend_subtract,
GL_EXT_compiled_vertex_array, GL_EXT_copy_texture,
GL_EXT_direct_state_access, GL_EXT_draw_buffers2, GL_EXT_draw_instanced,
GL_EXT_draw_range_elements, GL_EXT_fog_coord, GL_EXT_framebuffer_blit,
GL_EXT_framebuffer_multisample, GL_EXT_framebuffer_multisample_blit_scaled,
GL_EXT_framebuffer_object, GL_EXT_framebuffer_sRGB,
GL_EXT_gpu_program_parameters, GL_EXT_gpu_shader4,
GL_EXT_multi_draw_arrays, GL_EXT_packed_depth_stencil,
GL_EXT_packed_float, GL_EXT_packed_pixels, GL_EXT_pixel_buffer_object,
GL_EXT_point_parameters, GL_EXT_polygon_offset_clamp,
GL_EXT_provoking_vertex, GL_EXT_rescale_normal, GL_EXT_secondary_color,
GL_EXT_separate_specular_color,
GL_EXT_shader_framebuffer_fetch_non_coherent, GL_EXT_shader_integer_mix,
GL_EXT_shadow_funcs, GL_EXT_stencil_two_side, GL_EXT_stencil_wrap,
GL_EXT_subtexture, GL_EXT_texture, GL_EXT_texture3D,
GL_EXT_texture_array, GL_EXT_texture_buffer_object,
GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_latc,
GL_EXT_texture_compression_rgtc, GL_EXT_texture_compression_s3tc,
GL_EXT_texture_cube_map, GL_EXT_texture_edge_clamp,
GL_EXT_texture_env_add, GL_EXT_texture_env_combine,
GL_EXT_texture_env_dot3, GL_EXT_texture_filter_minmax,
GL_EXT_texture_integer, GL_EXT_texture_lod_bias,
GL_EXT_texture_mirror_clamp, GL_EXT_texture_object,
GL_EXT_texture_rectangle, GL_EXT_texture_sRGB, GL_EXT_texture_sRGB_R8,
GL_EXT_texture_sRGB_decode, GL_EXT_texture_shadow_lod,
GL_EXT_texture_shared_exponent, GL_EXT_texture_snorm,
GL_EXT_texture_swizzle, GL_EXT_timer_query, GL_EXT_transform_feedback,
GL_EXT_vertex_array, GL_EXT_vertex_array_bgra,
GL_IBM_multimode_draw_arrays, GL_IBM_rasterpos_clip,
GL_IBM_texture_mirrored_repeat, GL_INGR_blend_func_separate,
GL_KHR_blend_equation_advanced, GL_KHR_context_flush_control,
GL_KHR_debug, GL_KHR_no_error, GL_KHR_parallel_shader_compile,
GL_KHR_robust_buffer_access_behavior, GL_KHR_robustness,
GL_KHR_texture_compression_astc_ldr,
GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_pack_invert,
GL_MESA_shader_integer_functions, GL_MESA_texture_signed_rgba,
GL_MESA_window_pos, GL_MESA_ycbcr_texture, GL_NV_blend_square,
GL_NV_conditional_render, GL_NV_copy_depth_to_color, GL_NV_copy_image,
GL_NV_depth_clamp, GL_NV_fog_distance, GL_NV_half_float,
GL_NV_light_max_exponent, GL_NV_packed_depth_stencil,
GL_NV_primitive_restart, GL_NV_texgen_reflection, GL_NV_texture_barrier,
GL_NV_texture_env_combine4, GL_NV_texture_rectangle, GL_OES_EGL_image,
GL_OES_read_format, GL_S3_s3tc, GL_SGIS_generate_mipmap,
GL_SGIS_texture_border_clamp, GL_SGIS_texture_edge_clamp,
GL_SGIS_texture_lod, GL_SUN_multi_draw_arrays

OpenGL ES profile version string: OpenGL ES 3.2 Mesa 21.2.6
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
OpenGL ES profile extensions:
GL_ANDROID_extension_pack_es31a, GL_ANGLE_pack_reverse_row_order,
GL_ANGLE_texture_compression_dxt3, GL_ANGLE_texture_compression_dxt5,
GL_APPLE_texture_max_level, GL_EXT_EGL_image_storage,
GL_EXT_base_instance, GL_EXT_blend_func_extended, GL_EXT_blend_minmax,
GL_EXT_buffer_storage, GL_EXT_clip_control, GL_EXT_clip_cull_distance,
GL_EXT_color_buffer_float, GL_EXT_color_buffer_half_float,
GL_EXT_compressed_ETC1_RGB8_sub_texture, GL_EXT_copy_image,
GL_EXT_depth_clamp, GL_EXT_discard_framebuffer,
GL_EXT_disjoint_timer_query, GL_EXT_draw_buffers,
GL_EXT_draw_buffers_indexed, GL_EXT_draw_elements_base_vertex,
GL_EXT_draw_instanced, GL_EXT_float_blend, GL_EXT_frag_depth,
GL_EXT_geometry_point_size, GL_EXT_geometry_shader, GL_EXT_gpu_shader5,
GL_EXT_map_buffer_range, GL_EXT_multi_draw_arrays,
GL_EXT_occlusion_query_boolean, GL_EXT_polygon_offset_clamp,
GL_EXT_primitive_bounding_box, GL_EXT_read_format_bgra,
GL_EXT_render_snorm, GL_EXT_robustness, GL_EXT_sRGB_write_control,
GL_EXT_separate_shader_objects,
GL_EXT_shader_framebuffer_fetch_non_coherent, GL_EXT_shader_group_vote,
GL_EXT_shader_implicit_conversions, GL_EXT_shader_integer_mix,
GL_EXT_shader_io_blocks, GL_EXT_tessellation_point_size,
GL_EXT_tessellation_shader, GL_EXT_texture_border_clamp,
GL_EXT_texture_buffer, GL_EXT_texture_compression_bptc,
GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_rgtc,
GL_EXT_texture_compression_s3tc, GL_EXT_texture_compression_s3tc_srgb,
GL_EXT_texture_cube_map_array, GL_EXT_texture_filter_minmax,
GL_EXT_texture_format_BGRA8888, GL_EXT_texture_norm16,
GL_EXT_texture_query_lod, GL_EXT_texture_rg, GL_EXT_texture_sRGB_R8,
GL_EXT_texture_sRGB_RG8, GL_EXT_texture_sRGB_decode,
GL_EXT_texture_shadow_lod, GL_EXT_texture_type_2_10_10_10_REV,
GL_EXT_texture_view, GL_EXT_unpack_subimage,
GL_KHR_blend_equation_advanced, GL_KHR_context_flush_control,
GL_KHR_debug, GL_KHR_no_error, GL_KHR_parallel_shader_compile,
GL_KHR_robust_buffer_access_behavior, GL_KHR_robustness,
GL_KHR_texture_compression_astc_ldr,
GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_bgra,
GL_MESA_framebuffer_flip_y, GL_MESA_shader_integer_functions,
GL_NV_conditional_render, GL_NV_draw_buffers, GL_NV_fbo_color_attachments,
GL_NV_image_formats, GL_NV_pixel_buffer_object, GL_NV_read_buffer,
GL_NV_read_depth, GL_NV_read_depth_stencil, GL_NV_read_stencil,
GL_OES_EGL_image, GL_OES_EGL_image_external,
GL_OES_EGL_image_external_essl3, GL_OES_EGL_sync,
GL_OES_compressed_ETC1_RGB8_texture, GL_OES_copy_image, GL_OES_depth24,
GL_OES_depth_texture, GL_OES_depth_texture_cube_map,
GL_OES_draw_buffers_indexed, GL_OES_draw_elements_base_vertex,
GL_OES_element_index_uint, GL_OES_fbo_render_mipmap,
GL_OES_geometry_point_size, GL_OES_geometry_shader,
GL_OES_get_program_binary, GL_OES_gpu_shader5, GL_OES_mapbuffer,
GL_OES_packed_depth_stencil, GL_OES_primitive_bounding_box,
GL_OES_required_internalformat, GL_OES_rgb8_rgba8, GL_OES_sample_shading,
GL_OES_sample_variables, GL_OES_shader_image_atomic,
GL_OES_shader_io_blocks, GL_OES_shader_multisample_interpolation,
GL_OES_standard_derivatives, GL_OES_stencil8, GL_OES_surfaceless_context,
GL_OES_tessellation_point_size, GL_OES_tessellation_shader,
GL_OES_texture_3D, GL_OES_texture_border_clamp, GL_OES_texture_buffer,
GL_OES_texture_cube_map_array, GL_OES_texture_float,
GL_OES_texture_float_linear, GL_OES_texture_half_float,
GL_OES_texture_half_float_linear, GL_OES_texture_npot,
GL_OES_texture_stencil8, GL_OES_texture_storage_multisample_2d_array,
GL_OES_texture_view, GL_OES_vertex_array_object, GL_OES_vertex_half_float,
GL_OES_viewport_array

390 GLX Visuals
visual x bf lv rg d st colorbuffer sr ax dp st accumbuffer ms cav
id dep cl sp sz l ci b ro r g b a F gb bf th cl r g b a ns b eat

0x021 24 tc 0 32 0 r y . 8 8 8 8 . . 0 24 8 0 0 0 0 0 0 None
0x38a 24 tc 0 32 0 r . . 8 8 8 8 . . 0 0 0 0 0 0 0 0 0 None
0x38b 24 tc 0 32 0 r . . 8 8 8 8 . . 0 0 0 16 16 16 16 0 0 Slow
　：
　：

以降ほぼ同じ構文の繰り返しです。

[k-okada]

これで irteusgl とすると動くとおもいます．

[HisaakiIida]

$ irteusgl
configuring by "/opt/ros/noetic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin
connected to Xserver DISPLAY=:1
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb
;; extending gcstack 0x55dbce070680[16374] --> 0x55dbce4fbba0[32748] top=3d4b
irtgl irtglc irtviewer
EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-5(Tue Jun 20 10:34:21 PST 2023)
1.irteusgl$

となり、エラーは出なくなりましたが相変わらずGUIが出ません。

[k-okada]

guiはirteusglを立ち上げた後に

(load "irteus/demo/demo.l")
(full-body-ik)

などとします

[HisaakiIida]

忘れてました！GUI出ました
ありがとうございました！！