Cannot import LulaKinematicsSolver when running Isaac Sim in headless mode

When I am trying to import the class LulaKinematicsSolver in headless mode as follows:

from omni.isaac.gym.vec_env import VecEnvBase
env = VecEnvBase(headless=True)
from omni.isaac.motion_generation import LulaKinematicsSolver

the following error occurs:

  File "/home/ragi/workspace/isaac/playground/cartpole_rllib/test copy.py", line 6, in <module>
    from omni.isaac.motion_generation import LulaKinematicsSolver
  File "/home/ragi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
    from omni.isaac.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
  File "/home/ragi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 1, in <module>
    from .motion_policies import RmpFlow
  File "/home/ragi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 14, in <module>
    import lula
ModuleNotFoundError: No module named 'lula'

But when switching headless to False, everything works. I am stuck…

Removing

if headless:
    experience = f'{os.environ["EXP_PATH"]}/omni.isaac.sim.python.gym.headless.kit'

from the __init__ of from omni.isaac.gym.vec_env import VecEnvBase seems to solve the issue

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