Errror while trying to drae visualization using open3d after running sapien render

[j-thapa]

after i initiate sapien ; in the same script if i try to draw visualization using open3D i get following error:

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
[Open3D WARNING] GLFW Error: GLX: Failed to create context: GLXBadFBConfig
[Open3D WARNING] Failed to create window
[Open3D WARNING] [DrawGeometries] Failed creating OpenGL window.
X Error of failed request: BadWindow (invalid Window parameter)
Major opcode of failed request: 15 (X_QueryTree)
Resource id in failed request: 0x2c00026
Serial number of failed request: 1518

[fbxiang]

It is very surprising that SAPIEN would have any effect on open3d since SAPIEN does not use OpenGL at all. And there is certainly no way to cause /usr/lib/dri/swrast_dri.so to go missing. Can you first verify this problem does not occur with open3d alone and is not caused some other libraries and provide a minimal example?
For example, does import sapien enough to cause the issue, or you need to create a scene or create a viewer?