Optimize MuJoCo render resolution and worker count to fix Render memory limits

Dockerfile

@@ -36,5 +36,10 @@ ENV PYOPENGL_PLATFORM=egl
 # ── Expose port ───────────────────────────────────────────────────────────────
 EXPOSE 8000
 
+# ── Limit Threads to save memory on Render Free Tier ──────────────────────────
+ENV OPENBLAS_NUM_THREADS=1
+ENV OMP_NUM_THREADS=1
+ENV MKL_NUM_THREADS=1
+
 # ── Start server ──────────────────────────────────────────────────────────────
-CMD ["uvicorn", "SemSorter.server.app:app", "--host", "0.0.0.0", "--port", "8000"]
+CMD ["uvicorn", "SemSorter.server.app:app", "--host", "0.0.0.0", "--port", "8000", "--workers", "1"]

SemSorter/simulation/controller.py

@@ -166,9 +166,9 @@ class SemSorterSimulation:
         # Modify the model name
         spec.modelname = "semsorter"
 
-        # Set offscreen framebuffer size for rendering
-        spec.visual.global_.offwidth = 1920
-        spec.visual.global_.offheight = 1080
+        # Set offscreen framebuffer size for rendering (lowered to save RAM on Render Free Tier)
+        spec.visual.global_.offwidth = 960
+        spec.visual.global_.offheight = 540
 
         # ─── Add additional lights ───────────────────────────────────────
         world = spec.worldbody