Important: MUJOCO_GL must be set before any MuJoCo import. Otherwise, it will still try to use GLFW.

app.py

@@ -1,6 +1,10 @@
+import os
+os.environ["MUJOCO_GL"] = "osmesa"  # or "egl" if you switch to EGL support
+
 import gradio as gr
 from tray_sim import run_tray_simulation
 
+
 def simulate_and_render(seed: int):
     gif_path = run_tray_simulation(seed)
     return gif_path