use EGL for headless GPU rendering in libero example (#837)

This PR updates the libero example Docker configuration to use EGL-based
headless rendering instead of X11, removing the need for privileged mode
and X11 socket access.

This PR also enables GPU acceleration for faster environment steps.

Author: jimmyt857

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"]

examples/libero/compose.yml

@@ -20,6 +20,9 @@ services:
       - CLIENT_ARGS
       - DISPLAY=$DISPLAY
       - MUJOCO_GL=${MUJOCO_GL:-egl}
+      - MUJOCO_EGL_DEVICE_ID=0
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - PYOPENGL_PLATFORM=egl
     deploy:
       resources:
         reservations: