From dc8e4382b83a073c0c3da56e657c35e175fdd9d0 Mon Sep 17 00:00:00 2001
From: Jose Enrique Chen <josechenf@google.com>
Date: Tue, 24 Oct 2023 04:58:48 -0700
Subject: [PATCH] Internal change.

PiperOrigin-RevId: 576102148
Change-Id: I75fadec5f4323682c599a8582be5ecfc7ea5ad84
---
 cpp/controllers_py/pybind_utils.cc            |  2 +-
 cpp/mujoco/include/dm_robotics/mujoco/mjlib.h | 10 +++++-----
 cpp/mujoco/src/mjlib.cc                       |  8 ++++----
 cpp/mujoco/src/test_with_mjlib.cc             |  4 +++-
 4 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/cpp/controllers_py/pybind_utils.cc b/cpp/controllers_py/pybind_utils.cc
index 5be767f..ae21f2a 100644
--- a/cpp/controllers_py/pybind_utils.cc
+++ b/cpp/controllers_py/pybind_utils.cc
@@ -112,7 +112,7 @@ const MjLib* LoadMjLibFromDmControlDynamically() {
 
 const MjLib* LoadMjLibFromDmControl() {
   py::gil_scoped_acquire gil;
-  return LoadMjLibFromDmControlDynamically();
+  return LoadMjLibFromDmControlStatically();  // Copybara changes to dynamic.
 }
 
 // Helper function for getting an mjModel object from a py::handle.
diff --git a/cpp/mujoco/include/dm_robotics/mujoco/mjlib.h b/cpp/mujoco/include/dm_robotics/mujoco/mjlib.h
index 70e8045..e0e49cd 100644
--- a/cpp/mujoco/include/dm_robotics/mujoco/mjlib.h
+++ b/cpp/mujoco/include/dm_robotics/mujoco/mjlib.h
@@ -19,11 +19,11 @@
 #include <string>
 
 // MuJoCo headers must be included in the same order as "mujoco.h".
-#include "mujoco/mjdata.h"  //NOLINT
-#include "mujoco/mjmodel.h"  //NOLINT
-#include "mujoco/mjrender.h"  //NOLINT
-#include "mujoco/mjui.h"  //NOLINT
-#include "mujoco/mjvisualize.h"  //NOLINT
+#include <mujoco/mjdata.h>  //NOLINT
+#include <mujoco/mjmodel.h>  //NOLINT
+#include <mujoco/mjrender.h>  //NOLINT
+#include <mujoco/mjui.h>  //NOLINT
+#include <mujoco/mjvisualize.h>  //NOLINT
 
 namespace dm_robotics {
 
diff --git a/cpp/mujoco/src/mjlib.cc b/cpp/mujoco/src/mjlib.cc
index a627762..8677483 100644
--- a/cpp/mujoco/src/mjlib.cc
+++ b/cpp/mujoco/src/mjlib.cc
@@ -34,7 +34,7 @@ using LibMujocoHandle = std::unique_ptr<void, LibMujocoHandleDeleter>;
 LibMujocoHandle OpenImpl(const char *path, int dlopen_flags) {
   dlerror();  // Clear error state before calling dlopen.
   void* handle = dlopen(path, dlopen_flags);
-  CHECK(handle != nullptr) << "dlopen '" << path << "' failed: " << dlerror();
+  CHECK_NE(handle, nullptr) << "dlopen '" << path << "' failed: " << dlerror();
 
   // Ensure we close the library with dlclose:
   LibMujocoHandle handle_with_close(handle);
@@ -49,7 +49,7 @@ LibMujocoHandle OpenImpl(const char *path, int dlopen_flags) {
 }
 
 LibMujocoHandle DlOpen(const std::string& path, int dlopen_flags) {
-  return OpenImpl(path.c_str(), dlopen_flags);
+  return OpenImpl(nullptr, RTLD_NOW);  // Changed by Copybara.
 }
 
 }  // namespace
@@ -63,14 +63,14 @@ struct MjLib::Impl {
 // We terminate the program if any of the symbol handles are null.
 #define INIT_WITH_DLSYM(name) \
   name(decltype(name)(        \
-      DieIfNull(dlsym(pimpl_->libmujoco_handle.get(), #name))))
+      ABSL_DIE_IF_NULL(dlsym(pimpl_->libmujoco_handle.get(), #name))))
 
 #define INIT_WITH_DLSYM_NULLABLE(name) \
   name(decltype(name)(dlsym(pimpl_->libmujoco_handle.get(), #name)))
 
 #define INIT_CALLBACK_WITH_DLSYM(name) \
   name(*(decltype(&name))(             \
-      DieIfNull(dlsym(pimpl_->libmujoco_handle.get(), #name))))
+      ABSL_DIE_IF_NULL(dlsym(pimpl_->libmujoco_handle.get(), #name))))
 
 MjLib::MjLib(const std::string& libmujoco_path, int dlopen_flags)
     : pimpl_(absl::make_unique<Impl>(libmujoco_path, dlopen_flags)),
diff --git a/cpp/mujoco/src/test_with_mjlib.cc b/cpp/mujoco/src/test_with_mjlib.cc
index ca1a99c..e843c89 100644
--- a/cpp/mujoco/src/test_with_mjlib.cc
+++ b/cpp/mujoco/src/test_with_mjlib.cc
@@ -32,7 +32,9 @@ namespace dm_robotics::testing {
 MjLib* TestWithMjLib::mjlib_ = nullptr;
 
 void TestWithMjLib::SetUpTestSuite() {
-  mjlib_ = new MjLib(kMujocoLibNoGlPath, RTLD_NOW);  // Load MuJoCo.
+  mjlib_ = new MjLib(
+      file::JoinPath(absl::GetFlag(FLAGS_test_srcdir), kMujocoLibNoGlPath),
+      RTLD_NOW);
 }
 
 void TestWithMjLib::TearDownTestSuite() {