[edit] Rebooting fixed.
Very similar issue:
./penumbra.bin: ./lib/libCgGL.so: no version information available (required by ./penumbra.bin)
./penumbra.bin: ./lib/libCg.so: no version information available (required by ./penumbra.bin)
X Error of failed request: BadRequest (invalid request code or no such operation)
Major opcode of failed request: 154 (GLX)
Minor opcode of failed request: 181 ()
Serial number of failed request: 32
Current serial number in output stream: 38
X Error of failed request: BadRequest (invalid request code or no such operation)
Major opcode of failed request: 154 (GLX)
Minor opcode of failed request: 181 ()
Serial number of failed request: 33
Current serial number in output stream: 39
Segmentation fault
and in hpl
-------- THE HPL ENGINE LOG ------------
Creating Engine Modules
--------------------------------------------------------
Creating graphics module
Creating system module
Creating resource module
Creating input module
Creating sound module
Creating physics module
Creating ai module
Creating gui module
Creating haptic module
Creating scene module
--------------------------------------------------------
Initializing Resources Module
--------------------------------------------------------
Creating resource managers
Misc Creation
--------------------------------------------------------
Initializing Graphics Module
--------------------------------------------------------
Init low level graphics
Setting video mode: 800 x 600 - 32 bpp
Init Glee...OK
Setting up OpenGL
I have removed those libs you mentioned and checked they are installed. I am running 32-bit Lucid Lynx.