Unity Process exiting - no Vulkan detection of local GPU [only in the Docker container]

Hi,

I am unable to create an AI2-THOR controller in any docker container built on the ai2thor-docker image. **It seems that Vulkan is having difficulties initializing, and connecting to my local machine's hardware.** I expect the docker container to eventually use the hardware of whatever machine I run my training jobs on.

After using `./scripts/build.sh` to create the image, trying `./scripts/run.sh` gives the following error:

```
./scripts/run.sh: line 3: cd: too many arguments
Traceback (most recent call last):
File "/app/example_agent.py", line 7, in
controller = ai2thor.controller.Controller(platform=ai2thor.platform.CloudRendering, scene='FloorPlan28')
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 492, in __init__
self.start(
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 1296, in start
self._start_unity_thread(env, width, height, unity_params, image_name)
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 1020, in _start_unity_thread
raise Exception(message)
Exception: Unity process has exited - check Player.log for errors. Confirm that Vulkan is properly configured on this system using vulkaninfo from the vulkan-utils package. returncode=-11
```

I also tried executing a bash shell through running a container with the `-it` options, and the same errors popped up. I tried two different scenarios - one using `docker` and the other using `nvidia-docker`. These two scenarios differed in their outputs for `nvidia-smi`, but not while creating an AI2-THOR controller.

## Scenario 1 (using `docker`):
(Run `apt install vulkan-utils` inside the container in order to use the `vulkaninfo` command as below.)
```
$ docker run -it ai2thor-docker:latest-3-9-7
root@:/app# nvidia-smi
Failed to initialize NVML: Unknown error

(root@:/app# apt install -y vulkan-utils)
root@:/app# vulkaninfo
===========
VULKAN INFO
===========

Vulkan Instance Version: 1.1.70

ERROR: [Loader Message] Code 0 : loader_scanned_icd_add: Could not get 'vkCreateInstance' via 'vk_icdGetInstanceProcAddr' for ICD libGLX_nvidia.so.0
Cannot create Vulkan instance.
/build/vulkan-UL09PJ/vulkan-1.1.70+dfsg1/demos/vulkaninfo.c:768: failed with VK_ERROR_INCOMPATIBLE_DRIVER

root@:/app# python
Python 3.9.7 (default, Oct 4 2022, 04:34:06)
[GCC 7.5.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> from ai2thor.controller import Controller
>>> from ai2thor.platform import CloudRendering
>>> ctr = Controller(platform=CloudRendering)
Traceback (most recent call last):
File "", line 1, in
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 492, in __init__
self.start(
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 1296, in start
self._start_unity_thread(env, width, height, unity_params, image_name)
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 1020, in _start_unity_thread
raise Exception(message)
Exception: Unity process has exited - check Player.log for errors. Confirm that Vulkan is properly configured on this system using vulkaninfo from the vulkan-utils package. returncode=-11

root@:/app# cat ~/.config/unity3d/Allen\ Institute\ for\ Artificial\ Intelligence/AI2-THOR/Player.log
Preloaded 'libjpeg.so'
Preloaded 'libpngslz.so'
Preloaded 'libturbojpeg.so'
Unable to load player prefs
Initialize engine version: 2021.2.0b11 (0bffbba03cb9)
[Subsystems] Discovering subsystems at path /root/.ai2thor/releases/thor-CloudRendering-54535f6b9d76896c2ccb4532727aeda5741a9061/thor-CloudRendering-54535f6b9d76896c2ccb4532727aeda5741a9061_Data/UnitySubsystems
Forcing GfxDevice: Vulkan
GfxDevice: creating device client; threaded=1; jobified=1
[Vulkan init] extensions: count=2
[Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_utils, enabled=0
Vulkan detection: 0
GfxDevice: creating device client; threaded=1; jobified=1
NullGfxDevice:
Version: NULL 1.0 [1.0]
Renderer: Null Device
Vendor: Unity Technologies
```

## Scenario 2 (using `nvidia-docker`):
**The only difference from Scenario 1 is the output of `nvidia-smi`.** (Again, run `apt install vulkan-utils` in order to use the `vulkaninfo` command as below.)
```
$ nvidia-docker run -it ai2thor-docker:latest-3-9-7
root@:/app# nvidia-smi
Wed Oct 5 15:37:55 2022
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 515.65.01 Driver Version: 515.65.01 CUDA Version: 11.7 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA GeForce ... Off | 00000000:01:00.0 Off | N/A |
| N/A 49C P8 N/A / N/A | 7MiB / 4096MiB | 0% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+

+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
+-----------------------------------------------------------------------------+

(root@:/app# apt install -y vulkan-utils)
root@:/app# vulkaninfo
===========
VULKAN INFO
===========

Vulkan Instance Version: 1.1.70

ERROR: [Loader Message] Code 0 : loader_scanned_icd_add: Could not get 'vkCreateInstance' via 'vk_icdGetInstanceProcAddr' for ICD libGLX_nvidia.so.0
Cannot create Vulkan instance.
/build/vulkan-UL09PJ/vulkan-1.1.70+dfsg1/demos/vulkaninfo.c:768: failed with VK_ERROR_INCOMPATIBLE_DRIVER

root@:/app# python
Python 3.9.7 (default, Oct 4 2022, 04:34:06)
[GCC 7.5.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> from ai2thor.controller import Controller
>>> from ai2thor.platform import CloudRendering
>>> ctr = Controller(platform=CloudRendering)
Traceback (most recent call last):
File "", line 1, in
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 492, in __init__
self.start(
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 1296, in start
self._start_unity_thread(env, width, height, unity_params, image_name)
File "/usr/local/lib/python3.9/site-packages/ai2thor/controller.py", line 1020, in _start_unity_thread
raise Exception(message)
Exception: Unity process has exited - check Player.log for errors. Confirm that Vulkan is properly configured on this system using vulkaninfo from the vulkan-utils package. returncode=-11

root@:/app# cat ~/.config/unity3d/Allen\ Institute\ for\ Artificial\ Intelligence/AI2-THOR/Player.log
Preloaded 'libjpeg.so'
Preloaded 'libpngslz.so'
Preloaded 'libturbojpeg.so'
Unable to load player prefs
Initialize engine version: 2021.2.0b11 (0bffbba03cb9)
[Subsystems] Discovering subsystems at path /root/.ai2thor/releases/thor-CloudRendering-54535f6b9d76896c2ccb4532727aeda5741a9061/thor-CloudRendering-54535f6b9d76896c2ccb4532727aeda5741a9061_Data/UnitySubsystems
Forcing GfxDevice: Vulkan
GfxDevice: creating device client; threaded=1; jobified=1
[Vulkan init] extensions: count=2
[Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_utils, enabled=0
Vulkan detection: 0
GfxDevice: creating device client; threaded=1; jobified=1
NullGfxDevice:
Version: NULL 1.0 [1.0]
Renderer: Null Device
Vendor: Unity Technologies
```
- Running `docker run -it --gpus all ai2thor-docker:latest-3-9-7` seems to result in the same scenario as Scenario 2 where `nvidia-docker run -t ai2thor-docker:latest-3-9-7` is used.
- **In both Scenarios 1 and 2,** running `apt install -y mesa-vulkan-drivers` in the container shell to try and resolve the `VK_ERROR_INCOMPATIBLE_DRIVER`, changes the outputs of `vulkaninfo` and `Player.log` to the following.
- The `vulkaninfo` error message changes to `VK_ERROR_INITIALIZATION_FAILED` instead.
- More Vulkan extensions detected in `Player.log` but no device detected yet. (`Player.log` is checked after trying to create an AI2-THOR controller once again, in order to create new logs once after installing mesa-vulkan-drivers.)

```
root@:/app# vulkaninfo
===========
VULKAN INFO
===========

Vulkan Instance Version: 1.1.70

ERROR: [Loader Message] Code 0 : loader_scanned_icd_add: Could not get 'vkCreateInstance' via 'vk_icdGetInstanceProcAddr' for ICD libGLX_nvidia.so.0
/build/vulkan-UL09PJ/vulkan-1.1.70+dfsg1/demos/vulkaninfo.c:2700: failed with VK_ERROR_INITIALIZATION_FAILED

root@:/app# cat ~/.config/unity3d/Allen\ Institute\ for\ Artificial\ Intelligence/AI2-THOR/Player.log
Preloaded 'libjpeg.so'
Preloaded 'libpngslz.so'
Preloaded 'libturbojpeg.so'
Unable to load player prefs
Initialize engine version: 2021.2.0b11 (0bffbba03cb9)
[Subsystems] Discovering subsystems at path /root/.ai2thor/releases/thor-CloudRendering-54535f6b9d76896c2ccb4532727aeda5741a9061/thor-CloudRendering-54535f6b9d76896c2ccb4532727aeda5741a9061_Data/UnitySubsystems
Forcing GfxDevice: Vulkan
GfxDevice: creating device client; threaded=1; jobified=1
[Vulkan init] extensions: count=16
[Vulkan init] extensions: name=VK_KHR_device_group_creation, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_fence_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_physical_device_properties2, enabled=1
[Vulkan init] extensions: name=VK_KHR_get_surface_capabilities2, enabled=0
[Vulkan init] extensions: name=VK_KHR_surface, enabled=1
[Vulkan init] extensions: name=VK_KHR_wayland_surface, enabled=0
[Vulkan init] extensions: name=VK_KHR_xcb_surface, enabled=0
[Vulkan init] extensions: name=VK_KHR_xlib_surface, enabled=0
[Vulkan init] extensions: name=VK_KHR_display, enabled=1
[Vulkan init] extensions: name=VK_EXT_direct_mode_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_acquire_xlib_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_display_surface_counter, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_utils, enabled=0
Vulkan detection: 0
GfxDevice: creating device client; threaded=1; jobified=1
NullGfxDevice:
Version: NULL 1.0 [1.0]
Renderer: Null Device
Vendor: Unity Technologies
```
Now, the creation of an AI2-THOR controller is _working perfectly fine outside of the Docker container_, on my local system. The output here of `vulkaninfo` is a large file with meaningful values, and Player.log showing detection of my `GfxDevice`. I am also able to see the Controller and navigate in the Python shell using `ctr.step(action="MoveAhead")`, and other such methods.

My local machine has the following relevant specifications:
- OS: Ubuntu 20.04
- NVIDIA Driver version: 515.65.01
- CUDA version: 11.7
- NVIDIA GeForce 940MX (4GB Graphics RAM)

This has been a long-term recurring issue with running AI2-THOR on encapsulated/isolated machines/cluster nodes. Vulkan struggles to connect to machine hardware from within a Docker container. I managed to fix this issue once and successfully run AI2-THOR controllers on docker containers using `ai2thor-docker` and some other steps/hacks, but unfortunately I have lost those changes that I made and I don't recall what I did then. I would massively appreciate help to bring me out of this rut. Thanks!