Version 2.1.4: Switch to GLAD, minor improvements to simulate.

PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e

python/mujoco/__init__.py

@@ -15,69 +15,44 @@
 """Python bindings for MuJoCo."""
 
 import ctypes
+import ctypes.util
 import os
 import platform
 import subprocess
 
-HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include')
-
-_MUJOCO_GL_ENABLE = ('enable', 'enabled', 'on', 'true', '1' , '')
-_MUJOCO_GL_DISABLE = ('disable', 'disabled', 'off', 'false', '0')
-_MUJOCO_GL = os.environ.get('MUJOCO_GL', '').lower().strip()
-_MUJOCO_GL_IS_VALID = True
-
 _SYSTEM = platform.system()
-if _SYSTEM == 'Linux':
-  libglew_name = None
-  if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'glx'):
-    libglew_name = 'libglew.so'
-  elif _MUJOCO_GL == 'egl':
-    libglew_name = 'libglewegl.so'
-  elif _MUJOCO_GL == 'osmesa':
-    libglew_name = 'libglewosmesa.so'
-  elif _MUJOCO_GL not in _MUJOCO_GL_DISABLE:
-    _MUJOCO_GL_IS_VALID = False
-  if libglew_name is not None:
-    ctypes.CDLL(os.path.join(os.path.dirname(__file__), libglew_name),
-                ctypes.RTLD_GLOBAL)
-    ctypes.CDLL(
-        os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.3'),
-        ctypes.RTLD_GLOBAL)
-  else:
-    ctypes.CDLL(
-        os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.3'),
-        ctypes.RTLD_GLOBAL)
-elif _SYSTEM == 'Windows':
-  if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'wgl'):
-    ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco.dll'))
-  elif _MUJOCO_GL in _MUJOCO_GL_DISABLE:
-    ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco_nogl.dll'))
-  else:
-    _MUJOCO_GL_IS_VALID = False
-
-if not _MUJOCO_GL_IS_VALID:
-  raise RuntimeError(
-      f'invalid value for environment variable MUJOCO_GL: {_MUJOCO_GL}')
+if _SYSTEM == 'Windows':
+  ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco.dll'))
 
 from mujoco._callbacks import *
 from mujoco._constants import *
 from mujoco._enums import *
 from mujoco._errors import *
 from mujoco._functions import *
+from mujoco._render import *
 from mujoco._structs import *
 
 # pylint: disable=g-import-not-at-top
-if _MUJOCO_GL not in _MUJOCO_GL_DISABLE:
-  from mujoco._render import *
-  if _SYSTEM != 'Linux':
-    from mujoco.glfw import GLContext
+_MUJOCO_GL = os.environ.get('MUJOCO_GL', '').lower().strip()
+if _MUJOCO_GL not in ('disable', 'disabled', 'off', 'false', '0'):
+  _VALID_MUJOCO_GL = ('enable', 'enabled', 'on', 'true', '1' , 'glfw', '')
+  if _SYSTEM == 'Linux':
+    _VALID_MUJOCO_GL += ('glx', 'egl', 'osmesa')
+  elif _SYSTEM == 'Windows':
+    _VALID_MUJOCO_GL += ('wgl',)
+  elif _SYSTEM == 'Darwin':
+    _VALID_MUJOCO_GL += ('cgl',)
+  if _MUJOCO_GL not in _VALID_MUJOCO_GL:
+    raise RuntimeError(
+        f'invalid value for environment variable MUJOCO_GL: {_MUJOCO_GL}')
+
+  if _SYSTEM == 'Linux' and _MUJOCO_GL == 'osmesa':
+    from mujoco.osmesa import GLContext
+  elif _SYSTEM == 'Linux' and _MUJOCO_GL == 'egl':
+    from mujoco.egl import GLContext
   else:
-    _dl_handle = ctypes.CDLL(None)
-    if hasattr(_dl_handle, 'OSMesaCreateContextExt'):
-      from mujoco.osmesa import GLContext
-    elif hasattr(_dl_handle, 'eglCreateContext'):
-      from mujoco.egl import GLContext
-    else:
-      from mujoco.glfw import GLContext
+    from mujoco.glfw import GLContext
+
+HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include')
 
 __version__ = mj_versionString()  # pylint: disable=undefined-variable