From 072f49211b48f5596c4f2cc877a997960713bcc0 Mon Sep 17 00:00:00 2001
From: Anil Zeybek <anil.zeybek98@gmail.com>
Date: Fri, 26 Dec 2025 17:35:50 +0100
Subject: [PATCH 1/3] use EGL for headless GPU rendering in libero example

---
 examples/libero/Dockerfile  | 3 +++
 examples/libero/compose.yml | 6 +++---
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/examples/libero/Dockerfile b/examples/libero/Dockerfile
index 9750796a2c..e7ff54691d 100644
--- a/examples/libero/Dockerfile
+++ b/examples/libero/Dockerfile
@@ -16,6 +16,7 @@ RUN apt-get update && \
     clang \
     libosmesa6-dev \
     libgl1-mesa-glx \
+    libegl1 \
     libglew-dev \
     libglfw3-dev \
     libgles2-mesa-dev \
@@ -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"]
diff --git a/examples/libero/compose.yml b/examples/libero/compose.yml
index 3498ce5207..06cd021cd4 100644
--- a/examples/libero/compose.yml
+++ b/examples/libero/compose.yml
@@ -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:

From 7d0fcddb742cd130cf993bec48b724983022be6c Mon Sep 17 00:00:00 2001
From: Anil Zeybek <anil.zeybek98@gmail.com>
Date: Fri, 26 Dec 2025 22:03:48 +0100
Subject: [PATCH 2/3] bring rendering-related params back

---
 examples/libero/compose.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/examples/libero/compose.yml b/examples/libero/compose.yml
index 06cd021cd4..e1bc33a980 100644
--- a/examples/libero/compose.yml
+++ b/examples/libero/compose.yml
@@ -14,8 +14,10 @@ services:
     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

From 75db10ce79811afc528be82b1c44ba3162034fa1 Mon Sep 17 00:00:00 2001
From: Anil Zeybek <anil.zeybek98@gmail.com>
Date: Sat, 27 Dec 2025 12:18:22 +0100
Subject: [PATCH 3/3] bring privileged param back

---
 examples/libero/compose.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/examples/libero/compose.yml b/examples/libero/compose.yml
index e1bc33a980..253f196057 100644
--- a/examples/libero/compose.yml
+++ b/examples/libero/compose.yml
@@ -11,6 +11,7 @@ services:
     init: true
     tty: true
     network_mode: host
+    privileged: true
     volumes:
       - $PWD:/app
       - ../../data:/data