Prepare HF Space deployment

Dockerfile

@@ -27,10 +27,8 @@ RUN pip install --no-cache-dir -r requirements.txt
 # Copy application code (including the static frontend directory)
 COPY . .
 
-# Environment variables for headless rendering
-# Options: osmesa (software, slow), egl (GPU if available), glx (X11 GPU)
-ENV MUJOCO_GL=osmesa
-ENV PYOPENGL_PLATFORM=osmesa
+# Enable GPU rendering for MuJoCo on HF (egl when GPU is available)
+ENV NOVA_MUJOCO_GPU=1
 
 # Performance tuning
 ENV OMP_NUM_THREADS=4

mujoco_server.py

@@ -10,6 +10,19 @@ import traceback
 import io
 import cv2
 import numpy as np
+
+
+def _configure_mujoco_backend() -> None:
+    if os.environ.get("NOVA_MUJOCO_GPU", "").lower() in {"1", "true", "yes", "on"}:
+        os.environ["MUJOCO_GL"] = os.environ.get("MUJOCO_GL", "egl")
+        os.environ["PYOPENGL_PLATFORM"] = os.environ.get("PYOPENGL_PLATFORM", "egl")
+    else:
+        os.environ["MUJOCO_GL"] = os.environ.get("MUJOCO_GL", "osmesa")
+        os.environ["PYOPENGL_PLATFORM"] = os.environ.get("PYOPENGL_PLATFORM", "osmesa")
+
+
+_configure_mujoco_backend()
+
 import mujoco
 from functools import wraps
 from pathlib import Path