From b5aa9eaa9cb11dd0ff6452e51009df6f547275bc Mon Sep 17 00:00:00 2001
From: Viktor Sonesten <v@tmplt.dev>
Date: Sat, 16 Dec 2023 11:30:45 +0100
Subject: [PATCH] mujoco: 3.0.1 -> 3.1.0

---
 .../science/robotics/mujoco/default.nix            | 14 ++++++++------
 pkgs/development/python-modules/mujoco/default.nix | 13 ++++++-------
 2 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/pkgs/applications/science/robotics/mujoco/default.nix b/pkgs/applications/science/robotics/mujoco/default.nix
index 139e1140e7c9..95d3e1269350 100644
--- a/pkgs/applications/science/robotics/mujoco/default.nix
+++ b/pkgs/applications/science/robotics/mujoco/default.nix
@@ -22,8 +22,8 @@ let
     benchmark = fetchFromGitHub {
       owner = "google";
       repo = "benchmark";
-      rev = "344117638c8ff7e239044fd0fa7085839fc03021";
-      hash = "sha256-gztnxui9Fe/FTieMjdvfJjWHjkImtlsHn6fM1FruyME=";
+      rev = "e45585a4b8e75c28479fa4107182c28172799640";
+      hash = "sha256-pgHvmRpPd99ePUVRsi7WXLVSZngZ5q6r1vWW4mdGvxY=";
     };
     ccd = fetchFromGitHub {
       owner = "danfis";
@@ -34,8 +34,8 @@ let
     eigen3 = fetchFromGitLab {
       owner = "libeigen";
       repo = "eigen";
-      rev = "e8515f78ac098329ab9f8cab21c87caede090a3f";
-      hash = "sha256-HXKtFJsKGpug+wNPjYynTuyaG0igo3oG4rFQktveh1g=";
+      rev = "454f89af9d6f3525b1df5f9ef9c86df58bf2d4d3";
+      hash = "sha256-a9QAnv6vIM8a9Bn8ZmfeMT0+kbtb0QGxM0+m5xwIqm8=";
     };
     googletest = fetchFromGitHub {
       owner = "google";
@@ -129,13 +129,15 @@ let
 
 in stdenv.mkDerivation rec {
   pname = "mujoco";
-  version = "3.0.1";
+  version = "3.1.0";
 
+  # Bumping version? Make sure to look though the MuJoCo's commit
+  # history for bumped dependency pins!
   src = fetchFromGitHub {
     owner = "google-deepmind";
     repo = pname;
     rev = version;
-    hash = "sha256-UXE+7KDti8RarpoJoo9Ei3TgW/Qdnj3ASRo8uTWhGrU=";
+    hash = "sha256-a8h30psoAlj9dI4j8IfY3WzWjY4MrRosGbvgt79s1BQ=";
   };
 
   patches = [ ./mujoco-system-deps-dont-fetch.patch ];
diff --git a/pkgs/development/python-modules/mujoco/default.nix b/pkgs/development/python-modules/mujoco/default.nix
index 2392de3847bd..881253845ed6 100644
--- a/pkgs/development/python-modules/mujoco/default.nix
+++ b/pkgs/development/python-modules/mujoco/default.nix
@@ -14,7 +14,7 @@
 
 buildPythonPackage rec {
   pname = "mujoco";
-  version = "3.0.1";
+  version = "3.1.0";
 
   pyproject = true;
 
@@ -24,7 +24,7 @@ buildPythonPackage rec {
   # in the project's CI.
   src = fetchPypi {
     inherit pname version;
-    hash = "sha256-pftecOk4q19qKBHs9hBBVenI+SgJg9VT7vc6NKuiY0s=";
+    hash = "sha256-rZNVihIuvNJnQWqA5tV9DG5r3/LttWNW6fN2js+fDb8=";
   };
 
   nativeBuildInputs = [ cmake setuptools ];
@@ -36,13 +36,12 @@ buildPythonPackage rec {
 
   env.MUJOCO_PATH = "${mujoco}";
   env.MUJOCO_PLUGIN_PATH = "${mujoco}/lib";
-  env.MUJOCO_CMAKE_ARGS = "-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON";
+  env.MUJOCO_CMAKE_ARGS = lib.concatStringsSep " " [
+    "-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON"
+    "-DMUJOCO_PYTHON_USE_SYSTEM_PYBIND11=ON"
+  ];
 
   preConfigure =
-    # Use system packages for pybind
-    ''
-      ${perl}/bin/perl -0777 -i -pe "s/(findorfetch\(.{3}USE_SYSTEM_PACKAGE.{3})(OFF)(.{3}PACKAGE_NAME.{3}pybind11.*\))/\1ON\3/gms" mujoco/CMakeLists.txt
-    '' +
     # Use non-system eigen3, lodepng, abseil: Remove mirror info and prefill
     # dependency directory. $build from setuptools.
     (let