Add Renderer class to Python native bindings.

PiperOrigin-RevId: 492994751
Change-Id: Iebbe5980668a15b1cd62c0076cc131255462b2eb

python/mujoco/gl_context.py

@@ -0,0 +1,45 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Exports GLContext for MuJoCo Python bindings."""
+
+import ctypes
+import ctypes.util
+import os
+import platform
+
+# pylint: disable=g-import-not-at-top
+_SYSTEM = platform.system()
+_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 as _GLContext
+    GLContext = _GLContext
+  elif _SYSTEM == 'Linux' and _MUJOCO_GL == 'egl':
+    from mujoco.egl import GLContext as _GLContext
+    GLContext = _GLContext
+  else:
+    from mujoco.glfw import GLContext as _GLContext
+    GLContext = _GLContext