mujoco: 3.5.0 -> 3.6.0 (#499034)

2026-03-12 23:53:27 +00:00
parent 5d472cefb6 037721f472
commit 79effe5f73
4 changed files with 30 additions and 60 deletions
@@ -1,8 +1,8 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 1780f874..3ac02be6 100644
+index 6c1747f3..ab69cf5e 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -140,7 +140,7 @@ target_link_libraries(
+@@ -158,7 +158,7 @@ target_link_libraries(
           lodepng
           qhullstatic_r
           tinyobjloader
@@ -12,10 +12,10 @@ index 1780f874..3ac02be6 100644
 
 set_target_properties(
 diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
-index 5cdc33cb..a4c9f61f 100644
+index d2404bc1..5c7ddaf6 100644
 --- a/cmake/MujocoDependencies.cmake
 +++ b/cmake/MujocoDependencies.cmake
-@@ -93,8 +93,6 @@ set(BUILD_SHARED_LIBS
+@@ -87,8 +87,6 @@ set(BUILD_SHARED_LIBS
 if(NOT TARGET lodepng)
   FetchContent_Declare(
     lodepng
@@ -24,7 +24,7 @@ index 5cdc33cb..a4c9f61f 100644
   )
 
   FetchContent_GetProperties(lodepng)
-@@ -113,8 +111,6 @@ endif()
+@@ -111,8 +109,6 @@ endif()
 if(NOT TARGET marchingcubecpp)
   FetchContent_Declare(
     marchingcubecpp
@@ -33,7 +33,7 @@ index 5cdc33cb..a4c9f61f 100644
   )
 
   FetchContent_GetProperties(marchingcubecpp)
-@@ -130,13 +126,9 @@ findorfetch(
+@@ -132,13 +128,9 @@ findorfetch(
   USE_SYSTEM_PACKAGE
   OFF
   PACKAGE_NAME
@@ -48,7 +48,7 @@ index 5cdc33cb..a4c9f61f 100644
   TARGETS
   qhull
   EXCLUDE_FROM_ALL
-@@ -157,12 +149,8 @@ findorfetch(
+@@ -160,12 +152,8 @@ findorfetch(
   tinyxml2
   LIBRARY_NAME
   tinyxml2
@@ -62,7 +62,7 @@ index 5cdc33cb..a4c9f61f 100644
   EXCLUDE_FROM_ALL
 )
 target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-@@ -175,10 +163,6 @@ findorfetch(
+@@ -183,10 +171,6 @@ findorfetch(
   tinyobjloader
   LIBRARY_NAME
   tinyobjloader
@@ -73,16 +73,7 @@ index 5cdc33cb..a4c9f61f 100644
   TARGETS
   tinyobjloader
   EXCLUDE_FROM_ALL
-@@ -187,8 +171,6 @@ findorfetch(
- if(NOT TARGET trianglemeshdistance)
-   FetchContent_Declare(
-     trianglemeshdistance
-    GIT_REPOSITORY https://github.com/InteractiveComputerGraphics/TriangleMeshDistance.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_TriangleMeshDistance}
-   )
- 
-   FetchContent_GetProperties(trianglemeshdistance)
-@@ -207,10 +189,6 @@ findorfetch(
+@@ -216,10 +200,6 @@ findorfetch(
   ccd
   LIBRARY_NAME
   ccd
@@ -93,7 +84,7 @@ index 5cdc33cb..a4c9f61f 100644
   TARGETS
   ccd
   EXCLUDE_FROM_ALL
-@@ -247,10 +225,6 @@ if(MUJOCO_BUILD_TESTS)
+@@ -261,10 +241,6 @@ if(MUJOCO_BUILD_TESTS OR MUJOCO_BUILD_STUDIO OR MUJOCO_USE_FILAMENT)
     absl
     LIBRARY_NAME
     abseil-cpp
@@ -104,7 +95,7 @@ index 5cdc33cb..a4c9f61f 100644
     TARGETS
     absl::core_headers
     EXCLUDE_FROM_ALL
-@@ -274,14 +248,9 @@ if(MUJOCO_BUILD_TESTS)
+@@ -291,14 +267,9 @@ if(MUJOCO_BUILD_TESTS)
     GTest
     LIBRARY_NAME
     googletest
@@ -121,7 +112,7 @@ index 5cdc33cb..a4c9f61f 100644
     EXCLUDE_FROM_ALL
   )
 
-@@ -308,10 +277,6 @@ if(MUJOCO_BUILD_TESTS)
+@@ -323,10 +294,6 @@ if(MUJOCO_BUILD_TESTS)
     benchmark
     LIBRARY_NAME
     benchmark
@@ -132,7 +123,7 @@ index 5cdc33cb..a4c9f61f 100644
     TARGETS
     benchmark::benchmark
     benchmark::benchmark_main
-@@ -322,14 +287,12 @@ endif()
+@@ -337,14 +304,12 @@ endif()
 
 if(MUJOCO_TEST_PYTHON_UTIL)
   add_compile_definitions(EIGEN_MPL2_ONLY)
@@ -149,7 +140,7 @@ index 5cdc33cb..a4c9f61f 100644
 
     FetchContent_GetProperties(Eigen3)
 diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
-index 666a3725..d89bb499 100644
+index 666a3725..8f4ce043 100644
 --- a/python/mujoco/util/CMakeLists.txt
 +++ b/python/mujoco/util/CMakeLists.txt
@@ -63,8 +63,8 @@ if(BUILD_TESTING)
@@ -185,19 +176,8 @@ index 666a3725..d89bb499 100644
   )
   gtest_add_tests(TARGET func_wrap_test SOURCES func_wrap_test.cc)
 
-@@ -90,8 +90,8 @@ if(BUILD_TESTING)
-   target_link_libraries(
-     tuple_tools_test
-     func_wrap
-    gmock
-    gtest_main
-+    GTest::gmock
-+    GTest::gtest_main
-   )
-   gtest_add_tests(TARGET tuple_tools_test SOURCES tuple_tools_test.cc)
- endif()
 diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
-index 5141406c..75ff7884 100644
+index 7885f5f9..97b8b783 100644
 --- a/simulate/cmake/SimulateDependencies.cmake
 +++ b/simulate/cmake/SimulateDependencies.cmake
@@ -81,10 +81,6 @@ findorfetch(
@@ -212,17 +192,17 @@ index 5141406c..75ff7884 100644
   glfw
   EXCLUDE_FROM_ALL
 diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index a286a1c6..982f2e68 100644
+index f459a6ca..6830509d 100644
 --- a/test/CMakeLists.txt
 +++ b/test/CMakeLists.txt
-@@ -81,8 +81,8 @@ target_link_libraries(
+@@ -82,8 +82,8 @@ target_link_libraries(
          absl::synchronization
          absl::flat_hash_map
          absl::flat_hash_set
 -         gtest
 -         gmock
-+         GTest::gtest
 +         GTest::gmock
+         GTest::gtest_main
          mujoco::mujoco
 )
 target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
@@ -25,8 +25,8 @@ let
    benchmark = fetchFromGitHub {
      owner = "google";
      repo = "benchmark";
-      rev = "5f7d66929fb66869d96dfcbacf0d8a586b33766d";
-      hash = "sha256-G9jMWq8BxKvRGP4D2/tcogdLwmek4XGYESqepnZIlCw=";
+      rev = "5c55f5d4f45a1b09c5d98aa63a671993ebd42c69";
+      hash = "sha256-CChXn58cqam3d6Q61ZJMr5NFq1Ezc5uywA7FSPhk4GI=";
    };
    ccd = fetchFromGitHub {
      owner = "danfis";
@@ -76,18 +76,12 @@ let
      rev = "f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d";
      hash = "sha256-90ei0lpJA8XuVGI0rGb3md0Qtq8/bdkU7dUCHpp88Bw=";
    };
-    trianglemeshdistance = fetchFromGitHub {
-      owner = "InteractiveComputerGraphics";
-      repo = "TriangleMeshDistance";
-      rev = "2cb643de1436e1ba8e2be49b07ec5491ac604457";
-      hash = "sha256-qG/8QKpOnUpUQJ1nLj+DFoLnUr+9oYkJPqUhwEQD2pc=";
-    };
  };

 in
 stdenv.mkDerivation (finalAttrs: {
  pname = "mujoco";
-  version = "3.5.0";
+  version = "3.6.0";

  # Bumping version? Make sure to look though the MuJoCo's commit
  # history for bumped dependency pins!
@@ -95,7 +89,7 @@ stdenv.mkDerivation (finalAttrs: {
    owner = "google-deepmind";
    repo = "mujoco";
    tag = finalAttrs.version;
-    hash = "sha256-5i+QQIwu8olwsMaYvO8b1vLkOkA4jZVR0xcFMuieF5w=";
+    hash = "sha256-Gxr8AH9grTjrMTHHOVseLuTC3rNuQEZRWhSvR4HgIc4=";
  };

  patches = [ ./mujoco-system-deps-dont-fetch.patch ];
@@ -146,10 +140,6 @@ stdenv.mkDerivation (finalAttrs: {
  + ''
    ln -s ${pin.tinyobjloader} build/_deps/tinyobjloader-src
    ln -s ${pin.tinyxml2} build/_deps/tinyxml2-src
-  ''
-  # Mujoco's cmake apply a patch on the trianglemeshdistance source code. Requires write permission.
-  + ''
-    cp -r ${pin.trianglemeshdistance} build/_deps/trianglemeshdistance-src
    ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src
  '';

@@ -29,14 +29,14 @@

 buildPythonPackage (finalAttrs: {
  pname = "dm-control";
-  version = "1.0.37";
+  version = "1.0.38";
  pyproject = true;

  src = fetchFromGitHub {
    owner = "google-deepmind";
    repo = "dm_control";
    tag = finalAttrs.version;
-    hash = "sha256-IRUAHadZMN9XCSoZj0m48lF/s/5s76Jlrdwe3BBmRNg=";
+    hash = "sha256-3Bo4XOR3iEf9H0RgMq/62CyKHua9nPU8gpYgze1GMno=";
  };

  build-system = [
@@ -26,7 +26,7 @@
  python,
 }:

-buildPythonPackage rec {
+buildPythonPackage (finalAttrs: {
  pname = "mujoco";
  inherit (mujoco) version;

@@ -37,8 +37,8 @@ buildPythonPackage rec {
  # <https://github.com/google-deepmind/mujoco/blob/main/python/make_sdist.sh>
  # in the project's CI.
  src = fetchPypi {
-    inherit pname version;
-    hash = "sha256-XIWm/HVgq1+kU081/0WeEtw2CWgfMH5FfbtJtiF/TXM=";
+    inherit (finalAttrs) pname version;
+    hash = "sha256-FcifQj4zvOCGCtcGF2O3IyNCbWNI17Lkbr3MN7EeCQU=";
  };

  nativeBuildInputs = [ cmake ];
@@ -61,7 +61,7 @@ buildPythonPackage rec {
    typing-extensions
  ];

-  pythonImportsCheck = [ "${pname}" ];
+  pythonImportsCheck = [ "mujoco" ];

  env.MUJOCO_PATH = "${mujoco}";
  env.MUJOCO_PLUGIN_PATH = "${mujoco}/lib";
@@ -87,7 +87,7 @@ buildPythonPackage rec {
        ${lib.getExe perl} -0777 -i -pe "s/GIT_REPO\n.*\n.*GIT_TAG\n.*\n//gm" mujoco/CMakeLists.txt
        ${lib.getExe perl} -0777 -i -pe "s/(FetchContent_Declare\(\n.*lodepng\n.*)(GIT_REPO.*\n.*GIT_TAG.*\n)(.*\))/\1\3/gm" mujoco/simulate/CMakeLists.txt

-        build="/build/${pname}-${version}/build/temp.${platform}-cpython-${pythonVersionMajorMinor}/"
+        build="/build/${finalAttrs.pname}-${finalAttrs.version}/build/temp.${platform}-cpython-${pythonVersionMajorMinor}/"
        mkdir -p $build/_deps
        ln -s ${mujoco.pin.lodepng} $build/_deps/lodepng-src
        ln -s ${mujoco.pin.eigen3} $build/_deps/eigen-src
@@ -103,4 +103,4 @@ buildPythonPackage rec {
      tmplt
    ];
  };
-}
+})