System:

• OS version: 20.04
• Python version (if applicable): 3.8.13
• SAPIEN version (pip freeze | grep sapien): sapien==2.2.1
• Environment: [Desktop / Server with xvfb / Docker with xvfb]: A100 ubuntu server, I don't think it is xvfb

Describe the bug
I installed sapein on an A100 server. I ran a docker with ubunut 20.04. Installed sapein and tried to run offscreen example. Got runtime error.
I got following error traceback when executing python -m sapien.example.offscreen

[2023-02-17 19:46:26.728] [svulkan2] [error] GLFW error: X11: The DISPLAY environment variable is missing
[2023-02-17 19:46:26.728] [svulkan2] [warning] Continue without GLFW.
Traceback (most recent call last):
  File "/opt/conda/lib/python3.8/runpy.py", line 194, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/opt/conda/lib/python3.8/runpy.py", line 87, in _run_code
    exec(code, run_globals)
  File "/opt/conda/lib/python3.8/site-packages/sapien/example/offscreen.py", line 41, in <module>
    main()
  File "/opt/conda/lib/python3.8/site-packages/sapien/example/offscreen.py", line 11, in main
    renderer = sapien.SapienRenderer()  # Create a renderer
RuntimeError: Cannot find a suitable rendering device

To Reproduce
Steps to reproduce the behavior (use pastebin for code):

1. Installed sapein via pip install sapien
2. test the offscreen rendering of SAPIEN with the following command python -m sapien.example.offscreen

Expected behavior
An image will be generated at the current working directory, named output.png.