Update Dockerfile

Dockerfile

@@ -1,9 +1,15 @@
-# FROM nvidia/cuda:12.5.1-cudnn-devel-ubuntu20.04
 FROM nvidia/cuda:12.8.1-devel-ubuntu22.04
 
 ENV DEBIAN_FRONTEND=noninteractive \
 	TZ=Europe/Paris
 
+# for headless GPU rendering
+ENV MUJOCO_GL="egl"
+ENV PYOPENGL_PLATFORM="egl"
+
+#requirements for headless GPU rendering, see also https://github.com/mmatl/pyrender/issues/149
+ENV NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video
+
 # Remove any third-party apt sources to avoid issues with expiring keys.
 # Install some basic utilities
 RUN rm -f /etc/apt/sources.list.d/*.list && \
@@ -22,10 +28,14 @@ RUN rm -f /etc/apt/sources.list.d/*.list && \
     nano \
     bzip2 \
     libx11-6 \
+    # if the next line does not work, we can also try this: libegl1-mesa-dev
+    libegl1 \
+    libgles2 \
     build-essential \
     libsndfile-dev \
     software-properties-common \
  && rm -rf /var/lib/apt/lists/*
+RUN echo '{"file_format_version": "1.0.0", "ICD": {"library_path": "libEGL_nvidia.so.0"}}' >> /usr/share/glvnd/egl_vendor.d/10_nvidia.json
 
 RUN add-apt-repository ppa:flexiondotorg/nvtop && \
     apt-get upgrade -y && \
@@ -52,7 +62,6 @@ RUN mkdir $HOME/.cache $HOME/.config \
 # Set up the Conda environment
 ENV CONDA_AUTO_UPDATE_CONDA=false \
     PATH=$HOME/miniconda/bin:$PATH
-# RUN curl -sLo ~/miniconda.sh https://repo.continuum.io/miniconda/Miniconda3-py39_4.10.3-Linux-x86_64.sh \
 RUN curl -sLo ~/miniconda.sh https://repo.continuum.io/miniconda/Miniconda3-py313_25.5.1-0-Linux-x86_64.sh \
  && chmod +x ~/miniconda.sh \
  && ~/miniconda.sh -b -p ~/miniconda \