mujoco: 3.2.7 -> 3.3.0

Diff:
https://github.com/google-deepmind/mujoco/compare/refs/tags/3.2.7...3.3.0

Changelog: https://mujoco.readthedocs.io/en/3.3.0/changelog.html

pkgs/by-name/mu/mujoco/package.nix

@@ -18,14 +18,14 @@ let
     abseil-cpp = fetchFromGitHub {
       owner = "abseil";
       repo = "abseil-cpp";
-      rev = "4447c7562e3bc702ade25105912dce503f0c4010";
-      hash = "sha256-51jpDhdZ0n+KLmxh8KVaTz53pZAB0dHjmILFX+OLud4=";
+      rev = "9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f";
+      hash = "sha256-uOgUtF8gaEgcxFK9WAoAhv4GoS8P23IoUxHZZVZdpPk=";
     };
     benchmark = fetchFromGitHub {
       owner = "google";
       repo = "benchmark";
-      rev = "24e0bd827a8bec8121b128b0634cb34402fb3259";
-      hash = "sha256-h3QllJC/tiUzl5UlGCTIoDuDcKG6J538MCY2Pqe2IOE=";
+      rev = "049f6e79cc3e8636cec21bbd94ed185b4a5f2653";
+      hash = "sha256-VmSKKCsBvmvXSnFbw6GJRgiGjlne8rw22+RCLBV/kD4=";
     };
     ccd = fetchFromGitHub {
       owner = "danfis";
@@ -36,14 +36,14 @@ let
     eigen3 = fetchFromGitLab {
       owner = "libeigen";
       repo = "eigen";
-      rev = "7f2377859377da6f22152015c28b12c04752af77";
-      hash = "sha256-SmyvY/WlU9jryD9ZpSw73dQEc9jI4ySQPRnplg/BC4w=";
+      rev = "66f7f51b7e069d0a03a21157fa60b24aece69aeb";
+      hash = "sha256-/xd0GnXoW8vclIk8aKAziQwDx6AdlBmZD48p8aCX6TQ=";
     };
     googletest = fetchFromGitHub {
       owner = "google";
       repo = "googletest";
-      rev = "b514bdc898e2951020cbdca1304b75f5950d1f59";
-      hash = "sha256-1OJ2SeSscRBNr7zZ/a8bJGIqAnhkg45re0j3DtPfcXM=";
+      rev = "6910c9d9165801d8827d628cb72eb7ea9dd538c5";
+      hash = "sha256-01PK9LxqHno89gypd7ze5gDP4V3en2J5g6JZRqohDB0=";
     };
     lodepng = fetchFromGitHub {
       owner = "lvandeve";
@@ -76,28 +76,28 @@ let
       hash = "sha256-90ei0lpJA8XuVGI0rGb3md0Qtq8/bdkU7dUCHpp88Bw=";
     };
 
-    tmd = stdenv.mkDerivation rec {
+    tmd = stdenv.mkDerivation {
       name = "TriangleMeshDistance";
 
       src = fetchFromGitHub {
         owner = "InteractiveComputerGraphics";
-        repo = name;
+        repo = "TriangleMeshDistance";
         rev = "e55a15c20551f36242fd6368df099a99de71d43a";
         hash = "sha256-vj6TMMT8mp7ciLa5nzVAhMWPcAHXq+ZwHlWsRA3uCmg=";
       };
 
       installPhase = ''
         mkdir -p $out/include/tmd
-        cp ${name}/include/tmd/${name}.h $out/include/tmd/
+        cp TriangleMeshDistance/include/tmd/TriangleMeshDistance.h $out/include/tmd/
       '';
     };
 
-    sdflib = stdenv.mkDerivation rec {
+    sdflib = stdenv.mkDerivation {
       name = "SdfLib";
 
       src = fetchFromGitHub {
         owner = "UPC-ViRVIG";
-        repo = name;
+        repo = "SdfLib";
         rev = "1927bee6bb8225258a39c8cbf14e18a4d50409ae";
         hash = "sha256-+SFUOdZ6pGZvnQa0mT+yfbTMHWe2CTOlroXcuVBHdOE=";
       };
@@ -105,13 +105,13 @@ let
       patches = [ ./sdflib-system-deps.patch ];
 
       cmakeFlags = [
-        "-DSDFLIB_USE_ASSIMP=OFF"
-        "-DSDFLIB_USE_OPENMP=OFF"
-        "-DSDFLIB_USE_ENOKI=OFF"
-        "-DSDFLIB_USE_SYSTEM_GLM=ON"
-        "-DSDFLIB_USE_SYSTEM_SPDLOG=ON"
-        "-DSDFLIB_USE_SYSTEM_CEREAL=ON"
-        "-DSDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE=ON"
+        (lib.cmakeBool "SDFLIB_USE_ASSIMP" false)
+        (lib.cmakeBool "SDFLIB_USE_OPENMP" false)
+        (lib.cmakeBool "SDFLIB_USE_ENOKI" false)
+        (lib.cmakeBool "SDFLIB_USE_SYSTEM_GLM" true)
+        (lib.cmakeBool "SDFLIB_USE_SYSTEM_SPDLOG" true)
+        (lib.cmakeBool "SDFLIB_USE_SYSTEM_CEREAL" true)
+        (lib.cmakeBool "SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE" true)
       ];
 
       nativeBuildInputs = [ cmake ];
@@ -130,17 +130,17 @@ let
   };
 
 in
-stdenv.mkDerivation rec {
+stdenv.mkDerivation (finalAttrs: {
   pname = "mujoco";
-  version = "3.2.7";
+  version = "3.3.0";
 
   # Bumping version? Make sure to look though the MuJoCo's commit
   # history for bumped dependency pins!
   src = fetchFromGitHub {
     owner = "google-deepmind";
     repo = "mujoco";
-    tag = version;
-    hash = "sha256-TAhgu3h7tCflIMscVS+jYuUfMmIYcCcI3JFxUlj8g9E=";
+    tag = finalAttrs.version;
+    hash = "sha256-6Mb50WD5ZQksKoG4FH3+iyy9qBqa1fKUPyt6McNDkGg=";
   };
 
   patches = [ ./mujoco-system-deps-dont-fetch.patch ];
@@ -158,9 +158,9 @@ stdenv.mkDerivation rec {
   ];
 
   cmakeFlags = [
-    "-DMUJOCO_USE_SYSTEM_sdflib=ON"
-    "-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON"
-    "-DMUJOCO_SAMPLES_USE_SYSTEM_GLFW=ON"
+    (lib.cmakeBool "MUJOCO_USE_SYSTEM_sdflib" true)
+    (lib.cmakeBool "MUJOCO_SIMULATE_USE_SYSTEM_GLFW" true)
+    (lib.cmakeBool "MUJOCO_SAMPLES_USE_SYSTEM_GLFW" true)
   ];
 
   # Move things into place so that cmake doesn't try downloading dependencies.
@@ -190,7 +190,7 @@ stdenv.mkDerivation rec {
   meta = {
     description = "Multi-Joint dynamics with Contact. A general purpose physics simulator";
     homepage = "https://mujoco.org/";
-    changelog = "https://github.com/google-deepmind/mujoco/releases/tag/${version}";
+    changelog = "https://mujoco.readthedocs.io/en/${finalAttrs.version}/changelog.html";
     license = lib.licenses.asl20;
     maintainers = with lib.maintainers; [
       GaetanLepage
@@ -199,4 +199,4 @@ stdenv.mkDerivation rec {
     ];
     broken = stdenv.hostPlatform.isDarwin;
   };
-}
+})

pkgs/development/python-modules/mujoco/default.nix

@@ -20,6 +20,7 @@
   glfw,
   numpy,
   pyopengl,
+  typing-extensions,
 
   perl,
   python,
@@ -37,7 +38,7 @@ buildPythonPackage rec {
   # in the project's CI.
   src = fetchPypi {
     inherit pname version;
-    hash = "sha256-a0ATRmtFV11J3T2HSNCZhfc0kAOu8yaHIW0rkCrHsTg=";
+    hash = "sha256-D7EqtxW8K20jlKYzC4w6HdlbDzuoEr/k9skeChyjrQ8=";
   };
 
   nativeBuildInputs = [ cmake ];
@@ -57,6 +58,7 @@ buildPythonPackage rec {
     glfw
     numpy
     pyopengl
+    typing-extensions
   ];
 
   pythonImportsCheck = [ "${pname}" ];
@@ -64,8 +66,8 @@ buildPythonPackage rec {
   env.MUJOCO_PATH = "${mujoco}";
   env.MUJOCO_PLUGIN_PATH = "${mujoco}/lib";
   env.MUJOCO_CMAKE_ARGS = lib.concatStringsSep " " [
-    "-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON"
-    "-DMUJOCO_PYTHON_USE_SYSTEM_PYBIND11=ON"
+    (lib.cmakeBool "MUJOCO_SIMULATE_USE_SYSTEM_GLFW" true)
+    (lib.cmakeBool "MUJOCO_PYTHON_USE_SYSTEM_PYBIND11" true)
   ];
 
   preConfigure =
@@ -82,8 +84,8 @@ buildPythonPackage rec {
         platform = with stdenv.hostPlatform.parsed; "${kernel.name}-${cpu.name}";
       in
       ''
-        ${perl}/bin/perl -0777 -i -pe "s/GIT_REPO\n.*\n.*GIT_TAG\n.*\n//gm" mujoco/CMakeLists.txt
-        ${perl}/bin/perl -0777 -i -pe "s/(FetchContent_Declare\(\n.*lodepng\n.*)(GIT_REPO.*\n.*GIT_TAG.*\n)(.*\))/\1\3/gm" mujoco/simulate/CMakeLists.txt
+        ${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}/"
         mkdir -p $build/_deps
@@ -95,9 +97,7 @@ buildPythonPackage rec {
 
   meta = {
     description = "Python bindings for MuJoCo: a general purpose physics simulator";
-    homepage = "https://mujoco.org/";
-    changelog = "https://github.com/google-deepmind/mujoco/releases/tag/${version}";
-    license = lib.licenses.asl20;
+    inherit (mujoco.meta) homepage changelog license;
     maintainers = with lib.maintainers; [
       GaetanLepage
       tmplt