X Error of failed request:  BadRequest (invalid request code or no such operation)
  Major opcode of failed request:  156 (RANDR)
  Minor opcode of failed request:  32 (RRGetProviders)
  Serial number of failed request:  12
  Current serial number in output stream:  12
[5.929s] [ext: omni.appwindow-1.1.10] startup

# This is the error throwed by Genesis
[19:45:15] [ERROR] RuntimeError: Unable to initialize an OpenGL 3+ context.

# This is the error throwed by Mujoco
libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: swrast
/home/user/miniconda3/envs/mujoco_deploy/lib/python3.11/site-packages/glfw/__init__.py:917: GLFWError: (65543) b'GLX: Failed to create context: BadValue (integer parameter out of range for operation)'
  warnings.warn(message, GLFWError)
ERROR: could not create window

# The command below is a suggestion given by GPT.
glxinfo | grep "OpenGL"
OpenGL vendor string: Mesa
OpenGL renderer string: llvmpipe (LLVM 15.0.7, 256 bits)

➜ xrdp --version
xrdp 0.10.80
  A Remote Desktop Protocol Server.
  Copyright (C) 2004-2025 Jay Sorg, Neutrino Labs, and all contributors.
  See https://github.com/neutrinolabs/xrdp for more information.

  Configure options:
      --with-systemdsystemunitdir=/usr/lib/systemd/system
      --enable-ibus
      --enable-ipv6
      --enable-jpeg
      --enable-fuse
      --enable-mp3lame
      --enable-fdkaac
      --enable-opus
      --enable-rfxcodec
      --enable-painter
      --enable-pixman
      --enable-utmp
      -with-imlib2
      --with-freetype2
      --enable-tests
      --enable-openh264
      --enable-vsock
      --enable-x264

  Compiled with OpenSSL 3.0.2 15 Mar 2022

# This is the version IsaacSim Can Not work
Section "ServerLayout"
    Identifier "XRDP GPU Server"
    Screen 0 "dGPU"
    InputDevice "xrdpMouse" "CorePointer"
    InputDevice "xrdpKeyboard" "CoreKeyboard"
EndSection

Section "ServerFlags"
    Option "DefaultServerLayout" "XRDP GPU Server"
    Option "DontVTSwitch" "on"
    Option "AutoAddDevices" "off"
    Option "AutoAddGPU" "off"
EndSection

Section "Module"
    Load "xorgxrdp"
    Load "glx"
    Load "glamoregl"
EndSection

Section "InputDevice"
    Identifier "xrdpKeyboard"
    Driver "xrdpkeyb"
EndSection

Section "InputDevice"
    Identifier "xrdpMouse"
    Driver "xrdpmouse"
EndSection


Section "Monitor"
    Identifier "Monitor"
    Option "DPMS"
    HorizSync 30-80
    VertRefresh 60-75
    ModeLine "1920x1080" 138.500 1920 1968 2000 2080 1080 1083 1088 1111 +hsync -vsync
    ModeLine "1280x720" 74.25 1280 1720 1760 1980 720 725 730 750 +HSync +VSync
    ModeLine "800x600" 40.00 800 840 968 1056 600 601 605 628 +hsync +vsync
EndSection

Section "Device"
    Identifier "dGPU"
    Driver "nvidia"
    Option "UseDisplayDevice" "none"
    Option "ConnectToAcpid" "false"
    BusID "PCI:8:0:0"  
EndSection

Section "Screen"
    Identifier "dGPU"
    Device "dGPU"
    Monitor "Monitor"
    Option "DPI" "96 x 96"
    DefaultDepth 24
    SubSection "Display"
        Depth 24
        Modes "1920x1080" "1280x720" "800x600"
    EndSubSection
EndSection

# This is the version IsaacSim works

Section "ServerLayout"
    Identifier "X11 Server"
    Screen "Screen (xrdpdev)"
    InputDevice "xrdpMouse" "CorePointer"
    InputDevice "xrdpKeyboard" "CoreKeyboard"
EndSection

Section "ServerFlags"
    Option "DefaultServerLayout" "X11 Server"
    Option "DontVTSwitch" "on"
    Option "AutoAddDevices" "off"
EndSection

Section "Module"
    Load "glx"
    Load "glamoregl" 
    Load "xorgxrdp"
EndSection

Section "InputDevice"
    Identifier "xrdpKeyboard"
    Driver "xrdpkeyb"
EndSection

Section "InputDevice"
    Identifier "xrdpMouse"
    Driver "xrdpmouse"
EndSection

Section "Monitor"
    Identifier "Monitor"
    Option "DPMS"
    HorizSync 30-80
    VertRefresh 60-75
    ModeLine "1920x1080" 138.500 1920 1968 2000 2080 1080 1083 1088 1111 +hsync -vsync
    ModeLine "1280x720" 74.25 1280 1720 1760 1980 720 725 730 750 +HSync +VSync
    ModeLine "800x600" 40.00 800 840 968 1056 600 601 605 628 +hsync +vsync
EndSection

Section "Device"
    Identifier "Video Card (xrdpdev)"
    Driver "xrdpdev"
    Option "DRMDevice" "/dev/dri/renderD128"
    Option "DRI3" "1"
EndSection

Section "Screen"
    Identifier "Screen (xrdpdev)"
    Device "Video Card (xrdpdev)"
    Monitor "Monitor"
    DefaultDepth 24
    SubSection "Display"
        Depth 24
        Modes "1920x1080" "1280x720" "800x600"
    EndSubSection
EndSection