Does appium require the emulator GUI?

We’re in the process of moving the tests on a continuous integration server(Jenkins) and I am wondering if Appium requires the emulator GUI.

If I have a visual emulator,appium properly interacts with it and the elements are found, but when switching to a headless(no UI) emulator, I’m seeing the app is installed but the elements are not found(I’m watching the console log and see that it tries to find the first element in the test without any success…

…is there a way to run the appium tests on a headless emulator??