Skip to content

use EGL for headless GPU rendering in libero example #837

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jimmyt857 merged 3 commits into from
Dec 27, 2025
+6 −0
Merged

use EGL for headless GPU rendering in libero example #837

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
072f492
use EGL for headless GPU rendering in libero example
anilzeybek Dec 26, 2025
7d0fcdd
bring rendering-related params back
anilzeybek Dec 26, 2025
75db10c
bring privileged param back
anilzeybek Dec 27, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions examples/libero/Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ RUN apt-get update && \
clang \
libosmesa6-dev \
libgl1-mesa-glx \
libegl1 \
libglew-dev \
libglfw3-dev \
libgles2-mesa-dev \
Expand Down Expand Up @@ -56,4 +57,6 @@ datasets: /app/third_party/libero/libero/datasets
assets: /app/third_party/libero/libero/libero/assets
EOF

RUN mkdir -p /usr/share/glvnd/egl_vendor.d && echo '{"file_format_version" : "1.0.0", "ICD" : { "library_path" : "libEGL_nvidia.so.0" }}' > /usr/share/glvnd/egl_vendor.d/10_nvidia.json

CMD ["/bin/bash", "-c", "source /.venv/bin/activate && python examples/libero/main.py $CLIENT_ARGS"]
6 changes: 3 additions & 3 deletions examples/libero/compose.yml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,15 +11,15 @@ services:
init: true
tty: true
network_mode: host
privileged: true
volumes:
- $PWD:/app
- ../../data:/data
- /tmp/.X11-unix:/tmp/.X11-unix:ro
environment:
- CLIENT_ARGS
- DISPLAY=$DISPLAY
- MUJOCO_GL=${MUJOCO_GL:-egl}
- MUJOCO_EGL_DEVICE_ID=0
- NVIDIA_DRIVER_CAPABILITIES=all
- PYOPENGL_PLATFORM=egl
deploy:
resources:
reservations:
Expand Down