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Did quite some research, including using xquartz server for mac and then get gazebo docker container to xquartz. None works because many of the legacy compatibility issues here and there, including XQartz support to new OpenGL etc. Eventually, I started a typical PC + Ubuntu setup and everything is smooth.

Did quite some research, including using xquartz server for mac and then get gazebo docker container to xquartz. None works because many of the legacy compatibility issues here and there, including XQartz support to new OpenGL etc. Also in the long run, Mac is moving to METAL then OpenGL... Eventually, I started a typical PC + Ubuntu setup and everything is smooth. smooth.

Did quite some research, including using xquartz server for mac and then get gazebo docker container to xquartz. None works because many of the legacy compatibility issues here and there, including XQartz support to new OpenGL etc. Also in the long run, Mac is moving to METAL then OpenGL... Also have looked into other alternative like Gzweb (web version of Gazebo client). Eventually, I started a typical PC + Ubuntu setup and everything is smooth.