update 2.3.2

3 files changed, 74 insertions, 23 deletions

diff --git a/.SRCINFO b/.SRCINFO
index 4ffc2ba453b5..ff63f92d1b2a 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,6 +1,6 @@
 pkgbase = python-mujoco
 	pkgdesc = Mujoco's Python bindings
-	pkgver = 2.2.2
+	pkgver = 2.3.2
 	pkgrel = 1
 	url = https://github.com/deepmind/mujoco
 	arch = x86_64
@@ -17,9 +17,9 @@ pkgbase = python-mujoco
 	depends = python-numpy
 	depends = python-opengl
 	depends = mujoco
-	source = https://github.com/deepmind/mujoco/archive/refs/tags/2.2.2.tar.gz
+	source = https://github.com/deepmind/mujoco/archive/refs/tags/2.3.2.tar.gz
 	source = mujoco.patch
-	sha256sums = 7aad590d2ec6056f0235021e493db014784452538e45513c4c022de22d8270b0
-	sha256sums = 31871c9b0f3de7c004b5cd030bed5ab91b63f971bdb043aa7a0beee4af4d7a00
+	sha256sums = 85f0dd00ce6a167ae92049957f8d849ad07cd4d44b71b5e49cc66bd44552436c
+	sha256sums = b46b45f9672c3f483b1f2d71f1f879b0701d182f692524ff2f8bed39bd5c2a9b
 
 pkgname = python-mujoco
diff --git a/PKGBUILD b/PKGBUILD
index 141fd6dcec4d..fcf03113da37 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -1,5 +1,5 @@
 pkgname=python-mujoco
-pkgver=2.2.2
+pkgver=2.3.2
 pkgrel=1
 pkgdesc="Mujoco's Python bindings"
 depends=('python' 'absl-py' 'python-glfw' 'python-numpy' 'python-opengl' 'mujoco')
@@ -9,8 +9,8 @@ url="https://github.com/deepmind/mujoco"
 license=('LGPL3')
 source=("https://github.com/deepmind/mujoco/archive/refs/tags/$pkgver.tar.gz"
 "mujoco.patch")
-sha256sums=('7aad590d2ec6056f0235021e493db014784452538e45513c4c022de22d8270b0'
-            '31871c9b0f3de7c004b5cd030bed5ab91b63f971bdb043aa7a0beee4af4d7a00')
+sha256sums=('85f0dd00ce6a167ae92049957f8d849ad07cd4d44b71b5e49cc66bd44552436c'
+            'b46b45f9672c3f483b1f2d71f1f879b0701d182f692524ff2f8bed39bd5c2a9b')
 
 build() {
   cd "${srcdir}/mujoco-${pkgver}"
@@ -21,6 +21,7 @@ build() {
   cp ../LICENSE .
   mkdir -p cmake
   cp ../cmake/*.cmake cmake
+  cp -r ../simulate mujoco
   python setup.py build
 }
 
diff --git a/mujoco.patch b/mujoco.patch
index 745320e0aaad..cddcac0a1a0a 100644
--- a/mujoco.patch
+++ b/mujoco.patch
@@ -1,8 +1,8 @@
 diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
-index 9e5242f..0573ffd 100644
+index 9160f4c..3237219 100644
 --- a/python/mujoco/CMakeLists.txt
 +++ b/python/mujoco/CMakeLists.txt
-@@ -119,7 +119,7 @@ endif()
+@@ -120,7 +120,7 @@ endif()
  set(MUJOCO_PYTHON_ABSL_TARGETS absl::core_headers absl::flat_hash_map absl::span)
  findorfetch(
    USE_SYSTEM_PACKAGE
@@ -11,7 +11,7 @@ index 9e5242f..0573ffd 100644
    PACKAGE_NAME
    absl
    LIBRARY_NAME
-@@ -152,7 +152,7 @@ endforeach()
+@@ -153,7 +153,7 @@ endforeach()
  add_compile_definitions(EIGEN_MPL2_ONLY)
  findorfetch(
    USE_SYSTEM_PACKAGE
@@ -20,7 +20,7 @@ index 9e5242f..0573ffd 100644
    PACKAGE_NAME
    Eigen3
    LIBRARY_NAME
-@@ -169,7 +169,7 @@ findorfetch(
+@@ -170,7 +170,7 @@ findorfetch(
  # ==================== PYBIND11 ================================================
  findorfetch(
    USE_SYSTEM_PACKAGE
@@ -30,27 +30,30 @@ index 9e5242f..0573ffd 100644
    pybind11
    LIBRARY_NAME
 diff --git a/python/mujoco/__init__.py b/python/mujoco/__init__.py
-index e33a132..a4754d7 100644
+index 3b2904b..5af302a 100644
 --- a/python/mujoco/__init__.py
 +++ b/python/mujoco/__init__.py
-@@ -53,6 +53,6 @@ if _MUJOCO_GL not in ('disable', 'disabled', 'off', 'false', '0'):
-   else:
-     from mujoco.glfw import GLContext
+@@ -46,8 +46,8 @@ from mujoco._structs import *
+ from mujoco.gl_context import *
+ from mujoco.renderer import Renderer
  
 -HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include/mujoco')
-+HEADERS_DIR = os.path.join('/usr/include/', 'mujoco')
+-PLUGINS_DIR = os.path.join(os.path.dirname(__file__), 'plugin')
++HEADERS_DIR = '/usr/include/mujoco'
++PLUGINS_DIR = '/usr/lib/mujoco/plugins'
+ 
+ PLUGIN_HANDLES = []
  
- __version__ = mj_versionString()  # pylint: disable=undefined-variable
 diff --git a/python/setup.py b/python/setup.py
-index d82274e..64583e2 100644
+index 610b858..1b58438 100644
 --- a/python/setup.py
 +++ b/python/setup.py
-@@ -140,14 +140,14 @@ class BuildCMakeExtension(build_ext.build_ext):
-     self._is_apple = (platform.system() == 'Darwin')
+@@ -150,15 +150,12 @@ class BuildCMakeExtension(build_ext.build_ext):
      (self._mujoco_library_path,
       self._mujoco_include_path,
+      self._mujoco_plugins_path,
 -     self._mujoco_framework_path) = self._find_mujoco()
-+     self._mujoco_framework_path) = "/usr/lib","/usr/include/mujoco",None
++     self._mujoco_framework_path) = "/usr/lib","/usr/include/mujoco","/usr/lib/mujoco/plugins",None
      self._configure_cmake()
      for ext in self.extensions:
        assert ext.name.startswith(EXT_PREFIX)
@@ -58,8 +61,55 @@ index d82274e..64583e2 100644
        self.build_extension(ext)
 -    self._copy_external_libraries()
 -    self._copy_mujoco_headers()
-+    #self._copy_external_libraries()
-+    #self._copy_mujoco_headers()
+-    self._copy_plugin_libraries()
  
    def _find_mujoco(self):
      if MUJOCO_PATH not in os.environ:
+diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
+index c120a1f..c2f75c6 100644
+--- a/simulate/CMakeLists.txt
++++ b/simulate/CMakeLists.txt
+@@ -116,8 +116,13 @@ target_include_directories(
+   platform_ui_adapter
+   PUBLIC
+   ${CMAKE_CURRENT_SOURCE_DIR}
+-  $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
+ )
++# Upstream MuJoCo is carefully not linking glfw here, and so it is just include its directories
++# to avoid dealing with two copies of glfw. In conda-forge (or in any C++/Python distribution)
++# pyglfw will depend on the same glfw copy linked here, so we can just link glfw normally
++# This avoids the tricky cmake bug https://gitlab.kitware.com/cmake/cmake/-/issues/19072
++# target_include_directories(platform_ui_adapter PUBLIC glfw)
++target_link_libraries(platform_ui_adapter PUBLIC glfw)
+ target_link_libraries(platform_ui_adapter PUBLIC mujoco::mujoco)
+ if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
+   target_compile_definitions(platform_ui_adapter PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
+diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
+index fa539c2..eb0b95a 100644
+--- a/simulate/cmake/SimulateDependencies.cmake
++++ b/simulate/cmake/SimulateDependencies.cmake
+@@ -22,12 +22,12 @@ else()
+ endif()
+ 
+ option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
+-       ${DEFAULT_USE_SYSTEM_MUJOCO}
++       ON
+ )
+ unset(DEFAULT_USE_SYSTEM_MUJOCO)
+ 
+-option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
+-option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
++option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." ON)
++option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." ON)
+ 
+ set(MUJOCO_DEP_VERSION_glfw3
+     7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8
+@@ -59,7 +59,7 @@ findorfetch(
+ )
+ 
+ option(MUJOCO_EXTRAS_STATIC_GLFW
+-       "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
++       "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF
+ )
+ if(MUJOCO_EXTRAS_STATIC_GLFW)
+   set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})