fixing openvla GL bugs

Dockerfile

@@ -19,6 +19,7 @@ RUN conda install -n base -y \
         "huggingface-hub>=0.20.0,<0.26.0"
 
 # Install build tools needed for runtime RoboEval installation
+# Also install OSMesa for headless OpenGL rendering (required for mujoco)
 RUN apt-get update -qq && \
     apt-get install -y -qq \
         build-essential \
@@ -30,6 +31,9 @@ RUN apt-get update -qq && \
         wget \
         curl \
         git \
+        libosmesa6-dev \
+        libgl1-mesa-glx \
+        libglib2.0-0 \
         && rm -rf /var/lib/apt/lists/*
 
 # Install Bazel (bazelisk) for runtime RoboEval builds

inference_openvla.py

@@ -18,6 +18,17 @@ try:
     import numpy as np
     from pathlib import Path
     from typing import Dict, Any, List, Optional, Tuple
+    
+    # Set headless mode BEFORE importing any graphics libraries
+    # These must be set before mujoco or any OpenGL libraries are imported
+    # Try OSMesa first (more reliable in Docker), fallback to egl
+    os.environ.setdefault("MUJOCO_GL", "osmesa")  # OSMesa is more reliable than EGL in Docker
+    os.environ.setdefault("PYOPENGL_PLATFORM", "osmesa")
+    os.environ.setdefault("XDG_RUNTIME_DIR", "/tmp")
+    # Additional headless rendering environment variables
+    os.environ.setdefault("DISPLAY", ":99")
+    os.environ.setdefault("LIBGL_ALWAYS_SOFTWARE", "1")
+    os.environ.setdefault("GALLIUM_DRIVER", "llvmpipe")
 except Exception as e:
     # If we can't even import basic modules, try to print error
     try:
@@ -30,11 +41,6 @@ except Exception as e:
         pass  # If we can't even print, give up
     sys.exit(1)
 
-# Set headless mode
-os.environ.setdefault("MUJOCO_GL", "egl")
-os.environ.setdefault("PYOPENGL_PLATFORM", "egl")
-os.environ.setdefault("XDG_RUNTIME_DIR", "/tmp")
-
 # Verify critical dependencies are available
 # Redirect stdout during imports to prevent libraries from printing to stdout
 import io
@@ -117,6 +123,18 @@ try:
     except ImportError as e:
         print(f"✗ RoboEval core modules import failed: {e}", file=sys.stderr, flush=True)
         sys.exit(1)
+    except Exception as e:
+        # Catch EGL/OpenGL errors during import
+        import traceback
+        error_msg = str(e)
+        if "egl" in error_msg.lower() or "opengl" in error_msg.lower() or "NoneType" in error_msg:
+            print(f"✗ RoboEval core modules import failed (graphics/EGL error): {e}", file=sys.stderr, flush=True)
+            print(f"  This may be due to EGL/OpenGL initialization issues in headless mode.", file=sys.stderr, flush=True)
+            print(f"  Traceback: {traceback.format_exc()}", file=sys.stderr, flush=True)
+        else:
+            print(f"✗ RoboEval core modules import failed: {e}", file=sys.stderr, flush=True)
+            print(f"  Traceback: {traceback.format_exc()}", file=sys.stderr, flush=True)
+        sys.exit(1)
 
     # Import all environment classes
     try: