Respect explicit MUJOCO_GL in backend selection#805
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sandeepKBM wants to merge 1 commit intoARISE-Initiative:masterfrom
Open
Respect explicit MUJOCO_GL in backend selection#805sandeepKBM wants to merge 1 commit intoARISE-Initiative:masterfrom
sandeepKBM wants to merge 1 commit intoARISE-Initiative:masterfrom
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What this does
Preserves an explicitly configured MUJOCO_GL value during robosuite import-time backend setup instead of overwriting it in binding_utils when GPU rendering is enabled. This makes backend selection predictable for downstream users who intentionally set values such as glfw. The change also factors backend resolution into a small helper, preserves the current default behavior when MUJOCO_GL is unset, and updates the installation guidance to document the supported configuration flow instead of recommending direct library edits.
How it was tested
Verified that MUJOCO_GL=glfw is preserved during import and is no longer overwritten.
Confirmed that the existing Linux default path still resolves to egl when MUJOCO_GL is unset.
Checked that state-only environments continue to work as before.
Validated that CPU headless offscreen rendering still requires the expected runtime setup of xvfb-run together with MUJOCO_GL=glfw.
Added focused tests covering both the backend-resolution helper and the binding_utils import path.
How to checkout & try? (for the reviewer)
Reviewers can verify the change by inspecting the updated backend-selection logic in binding_utils, reviewing the new helper and tests, and trying robosuite imports with and without MUJOCO_GL set. In particular, setting MUJOCO_GL=glfw before import should now be preserved, while leaving it unset should continue to follow the existing default Linux behavior.