diff --git a/.circleci/config.yml b/.circleci/config.yml
index 8aa7dc9855b..e0bac2a447d 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -481,7 +481,7 @@ jobs:
           command: docker run -t --gpus all -v $PWD:$PWD -w $PWD -e UPLOAD_CHANNEL -e CU_VERSION "${image_name}" .circleci/unittest/linux_stable/scripts/install.sh
       - run:
           name: Run tests
-          command: docker run --env-file ./env.list -t --gpus all -v $PWD:$PWD -w $PWD "${image_name}" .circleci/unittest/linux_stable/scripts/run_test.sh
+          command: docker run -t --gpus all -v $PWD:$PWD -w $PWD "${image_name}" .circleci/unittest/linux_stable/scripts/run_test.sh
       - run:
           name: Post Process
           command: docker run -t --gpus all -v $PWD:$PWD -w $PWD "${image_name}" .circleci/unittest/linux_stable/scripts/post_process.sh
@@ -656,30 +656,30 @@ workflows:
 
   unittest:
     jobs:
-      - unittest_macos_cpu:
-          cu_version: cpu
-          name: unittest_macos_cpu_py3.7
-          python_version: '3.7'
-      - unittest_linux_cpu:
-          cu_version: cpu
-          name: unittest_linux_cpu_py3.7
-          python_version: '3.7'
-      - unittest_linux_gpu:
-          cu_version: cu113
-          name: unittest_linux_gpu_py3.7
-          python_version: '3.7'
-      - unittest_linux_optdeps_gpu:
-          cu_version: cu113
-          name: unittest_linux_optdeps_gpu_py3.7
-          python_version: '3.7'
-      - unittest_linux_stable_cpu:
-          cu_version: cpu
-          name: unittest_linux_stable_cpu_py3.7
-          python_version: '3.7'
-      - unittest_linux_stable_gpu:
-          cu_version: cu113
-          name: unittest_linux_stable_gpu_py3.7
-          python_version: '3.7'
+#      - unittest_macos_cpu:
+#          cu_version: cpu
+#          name: unittest_macos_cpu_py3.7
+#          python_version: '3.7'
+#      - unittest_linux_cpu:
+#          cu_version: cpu
+#          name: unittest_linux_cpu_py3.7
+#          python_version: '3.7'
+#      - unittest_linux_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_gpu_py3.7
+#          python_version: '3.7'
+#      - unittest_linux_optdeps_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_optdeps_gpu_py3.7
+#          python_version: '3.7'
+#      - unittest_linux_stable_cpu:
+#          cu_version: cpu
+#          name: unittest_linux_stable_cpu_py3.7
+#          python_version: '3.7'
+#      - unittest_linux_stable_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_stable_gpu_py3.7
+#          python_version: '3.7'
 
       - unittest_macos_cpu:
           cu_version: cpu
@@ -706,52 +706,52 @@ workflows:
           name: unittest_linux_stable_gpu_py3.8
           python_version: '3.8'
 
-      - unittest_macos_cpu:
-          cu_version: cpu
-          name: unittest_macos_cpu_py3.9
-          python_version: '3.9'
-      - unittest_linux_cpu:
-          cu_version: cpu
-          name: unittest_linux_cpu_py3.9
-          python_version: '3.9'
-      - unittest_linux_gpu:
-          cu_version: cu113
-          name: unittest_linux_gpu_py3.9
-          python_version: '3.9'
-      - unittest_linux_optdeps_gpu:
-          cu_version: cu113
-          name: unittest_linux_optdeps_gpu_py3.9
-          python_version: '3.9'
-      - unittest_linux_stable_cpu:
-          cu_version: cpu
-          name: unittest_linux_stable_cpu_py3.9
-          python_version: '3.9'
-      - unittest_linux_stable_gpu:
-          cu_version: cu113
-          name: unittest_linux_stable_gpu_py3.9
-          python_version: '3.9'
-
-      - unittest_macos_cpu:
-          cu_version: cpu
-          name: unittest_macos_cpu_py3.10
-          python_version: '3.10'
-      - unittest_linux_cpu:
-          cu_version: cpu
-          name: unittest_linux_cpu_py3.10
-          python_version: '3.10'
-      - unittest_linux_gpu:
-          cu_version: cu113
-          name: unittest_linux_gpu_py3.10
-          python_version: '3.10'
-      - unittest_linux_optdeps_gpu:
-          cu_version: cu113
-          name: unittest_linux_optdeps_gpu_py3.10
-          python_version: '3.10'
-      - unittest_linux_stable_cpu:
-          cu_version: cpu
-          name: unittest_linux_stable_cpu_py3.10
-          python_version: '3.10'
-      - unittest_linux_stable_gpu:
-          cu_version: cu113
-          name: unittest_linux_stable_gpu_py3.10
-          python_version: '3.10'
+#      - unittest_macos_cpu:
+#          cu_version: cpu
+#          name: unittest_macos_cpu_py3.9
+#          python_version: '3.9'
+#      - unittest_linux_cpu:
+#          cu_version: cpu
+#          name: unittest_linux_cpu_py3.9
+#          python_version: '3.9'
+#      - unittest_linux_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_gpu_py3.9
+#          python_version: '3.9'
+#      - unittest_linux_optdeps_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_optdeps_gpu_py3.9
+#          python_version: '3.9'
+#      - unittest_linux_stable_cpu:
+#          cu_version: cpu
+#          name: unittest_linux_stable_cpu_py3.9
+#          python_version: '3.9'
+#      - unittest_linux_stable_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_stable_gpu_py3.9
+#          python_version: '3.9'
+#
+#      - unittest_macos_cpu:
+#          cu_version: cpu
+#          name: unittest_macos_cpu_py3.10
+#          python_version: '3.10'
+#      - unittest_linux_cpu:
+#          cu_version: cpu
+#          name: unittest_linux_cpu_py3.10
+#          python_version: '3.10'
+#      - unittest_linux_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_gpu_py3.10
+#          python_version: '3.10'
+#      - unittest_linux_optdeps_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_optdeps_gpu_py3.10
+#          python_version: '3.10'
+#      - unittest_linux_stable_cpu:
+#          cu_version: cpu
+#          name: unittest_linux_stable_cpu_py3.10
+#          python_version: '3.10'
+#      - unittest_linux_stable_gpu:
+#          cu_version: cu113
+#          name: unittest_linux_stable_gpu_py3.10
+#          python_version: '3.10'
diff --git a/.circleci/unittest/linux/scripts/run_test.sh b/.circleci/unittest/linux/scripts/run_test.sh
index fea33f15774..58bbf48f8df 100755
--- a/.circleci/unittest/linux/scripts/run_test.sh
+++ b/.circleci/unittest/linux/scripts/run_test.sh
@@ -5,6 +5,12 @@ set -e
 eval "$(./conda/bin/conda shell.bash hook)"
 conda activate ./env
 
+pip3 install pyrender
+pip3 install pyopengl --upgrade
+
+export MUJOCO_GL=egl
+export PYOPENGL_PLATFORM=egl
+
 export PYTORCH_TEST_WITH_SLOW='1'
 python -m torch.utils.collect_env
 # Avoid error: "fatal: unsafe repository"
diff --git a/.circleci/unittest/linux/scripts/setup_env.sh b/.circleci/unittest/linux/scripts/setup_env.sh
index b0cf2b465b1..ffedc260e58 100755
--- a/.circleci/unittest/linux/scripts/setup_env.sh
+++ b/.circleci/unittest/linux/scripts/setup_env.sh
@@ -56,17 +56,25 @@ cat "${this_dir}/environment.yml"
 if [[ $OSTYPE == 'darwin'* ]]; then
   PRIVATE_MUJOCO_GL=glfw
 else
-  conda install -y -c conda-forge mesa
-  conda install -y -c conda-forge mesalib
-  PRIVATE_MUJOCO_GL=osmesa
+  PRIVATE_MUJOCO_GL=egl
 fi
 
 export MUJOCO_GL=$PRIVATE_MUJOCO_GL
 conda env config vars set MUJOCO_PY_MUJOCO_PATH=$root_dir/.mujoco/mujoco210 \
   DISPLAY=unix:0.0 \
   MJLIB_PATH=$root_dir/.mujoco/mujoco-2.1.1/lib/libmujoco.so.2.1.1 \
-  LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$root_dir/.mujoco/mujoco210/bin \
+  LD_LIBRARY_PATH=$root_dir/.mujoco/mujoco210/bin \
   SDL_VIDEODRIVER=dummy \
-  MUJOCO_GL=$PRIVATE_MUJOCO_GL
+  MUJOCO_GL=$PRIVATE_MUJOCO_GL\
+  PYOPENGL_PLATFORM=egl
+
+# Software rendering requires GLX and OSMesa.
+if [[ $MUJOCO_GL == 'egl' ]]; then
+  yum makecache
+  yum install -y glfw
+  yum install -y glew
+  yum install -y mesa-libGL
+  yum install -y mesa-libOSMesa-devel
+fi
 
 conda env update --file "${this_dir}/environment.yml" --prune
diff --git a/.circleci/unittest/linux_stable/scripts/install.sh b/.circleci/unittest/linux_stable/scripts/install.sh
index 0c0e3c9f0b6..717af1fa839 100755
--- a/.circleci/unittest/linux_stable/scripts/install.sh
+++ b/.circleci/unittest/linux_stable/scripts/install.sh
@@ -1,5 +1,6 @@
 #!/usr/bin/env bash
 
+
 unset PYTORCH_VERSION
 # For unittest, nightly PyTorch is used as the following section,
 # so no need to set PYTORCH_VERSION.
@@ -10,6 +11,9 @@ set -e
 eval "$(./conda/bin/conda shell.bash hook)"
 conda activate ./env
 
+echo "--> Check env"
+printenv
+
 if [ "${CU_VERSION:-}" == cpu ] ; then
     cudatoolkit="cpuonly"
     version="cpu"
diff --git a/.circleci/unittest/linux_stable/scripts/run_test.sh b/.circleci/unittest/linux_stable/scripts/run_test.sh
index fea33f15774..2a98092eb84 100755
--- a/.circleci/unittest/linux_stable/scripts/run_test.sh
+++ b/.circleci/unittest/linux_stable/scripts/run_test.sh
@@ -5,6 +5,15 @@ set -e
 eval "$(./conda/bin/conda shell.bash hook)"
 conda activate ./env
 
+pip3 install pyrender
+pip3 install pyopengl --upgrade
+
+export MUJOCO_GL=egl
+export PYOPENGL_PLATFORM=egl
+export __GL_SHADER_DISK_CACHE=0
+export __GL_SHADER_DISK_CACHE_PATH=/tmp
+printf "DISPLAY:$DISPLAY-->\n"
+
 export PYTORCH_TEST_WITH_SLOW='1'
 python -m torch.utils.collect_env
 # Avoid error: "fatal: unsafe repository"
@@ -16,7 +25,10 @@ lib_dir="${env_dir}/lib"
 
 # solves ImportError: /lib64/libstdc++.so.6: version `GLIBCXX_3.4.21' not found
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$lib_dir
+printf "LD_LIBRARY_PATH:$LD_LIBRARY_PATH-->\n"
 export MKL_THREADING_LAYER=GNU
+export PATH=/home/circleci/project/env/bin:/home/circleci/project/conda/condabin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+printenv
 
 pytest test/smoke_test.py -v --durations 20
 pytest test/smoke_test_deps.py -v --durations 20
diff --git a/.circleci/unittest/linux_stable/scripts/setup_env.sh b/.circleci/unittest/linux_stable/scripts/setup_env.sh
index c9c6e45acc2..3764c58d65e 100755
--- a/.circleci/unittest/linux_stable/scripts/setup_env.sh
+++ b/.circleci/unittest/linux_stable/scripts/setup_env.sh
@@ -57,17 +57,26 @@ cat "${this_dir}/environment.yml"
 if [[ $OSTYPE == 'darwin'* ]]; then
   PRIVATE_MUJOCO_GL=glfw
 else
-  conda install -y -c conda-forge mesa
-  conda install -y -c conda-forge mesalib
-  PRIVATE_MUJOCO_GL=osmesa
+  PRIVATE_MUJOCO_GL=egl
 fi
 
 export MUJOCO_GL=$PRIVATE_MUJOCO_GL
 conda env config vars set MUJOCO_PY_MUJOCO_PATH=$root_dir/.mujoco/mujoco210 \
   DISPLAY=unix:0.0 \
   MJLIB_PATH=$root_dir/.mujoco/mujoco-2.1.1/lib/libmujoco.so.2.1.1 \
-  LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$root_dir/.mujoco/mujoco210/bin \
+  LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$root_dir/.mujoco/mujoco210/bin:${root_dir}/conda/lib \
   SDL_VIDEODRIVER=dummy \
-  MUJOCO_GL=$PRIVATE_MUJOCO_GL
+  MUJOCO_GL=$PRIVATE_MUJOCO_GL \
+  PYOPENGL_PLATFORM=egl
+
+# Software rendering requires GLX and OSMesa.
+if [[ $MUJOCO_GL == 'egl' ]]; then
+  yum makecache
+  yum update -y
+  yum install -y glfw
+  yum install -y glew
+  yum install -y mesa-libGL
+  yum install -y mesa-libOSMesa-devel
+fi
 
 conda env update --file "${this_dir}/environment.yml" --prune