simulate python: fix cmake, glfw usage, update Python version of physics loop

python/mujoco/raw.h

@@ -19,7 +19,6 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjrender.h>
 #include <mujoco/mjvisualize.h>
-#include <mujoco/simulate.h>
 
 // Type aliases for MuJoCo C structs to allow us refer to consistently refer
 // to them under the "raw" namespace.
@@ -56,9 +55,6 @@ using MjvOption = ::mjvOption;
 using MjvScene = ::mjvScene;
 using MjvFigure = ::mjvFigure;
 
-// From simulate.h
-using Simulate = ::mujoco::Simulate;
-
 }  // namespace mujoco::raw
 
 #endif  // MUJOCO_PYTHON_RAW_H_