I work using ssh tunnels from a Windows client to a Linux NVIDIA Titan GPU server, through a VPN. I'm using MuJoCo 1.5 in OpenAI Gym on the server, running my python code in Jupyter Notebooks. Ideally I would like to get the MuJoCo OpenGL graphics working across ssh -X. I tried with MobaXTerm on my Windows box, and can display normal X11 apps, but when I call env.render() I get the error: Choosing the latest nvidia driver: /usr/lib/nvidia-415, among ['/usr/lib/nvidia-352', '/usr/lib/nvidia-375', '/usr/lib/nvidia-415'] Choosing the latest nvidia driver: /usr/lib/nvidia-415, among ['/usr/lib/nvidia-352', '/usr/lib/nvidia-375', '/usr/lib/nvidia-415'] GLFW error (code %d): %s 65544 b'X11: RandR gamma ramp support seems broken' GLFW error (code %d): %s 65542 b'EGL: Failed to get EGL display: Success' GLFW error (code %d): %s 65544 b'X11: RandR monitor support seems broken' Creating window glfw and on the command line I see: ERROR: OpenGL version 1.5 or higher required I have no idea which of these errors is the one I need to resolve. Maybe I need to upgrade an OpenGL library on the linux server or a graphics driver on my Windows client? If I can't get this to work, I am very happy to work without OpenGL and render images to rgb arrays, then use matplotlib to display them. But again I'm stuck when I look at the documentation. Modifying the makefile to use -lmujoco150nogl in place of -lmujoco150 causes errors (lots of undefined references) when compiling several of the cpp files. Maybe a 3rd option is the "EGL" version, but how exactly could I make my python code see this version of MuJoCo? Are there some environment settings that switch between the different implementations? I am not remotely interested in fast rendering - I just want to be able to see something. Could anyone suggest a way forward for me?