mujoco v3.2.4

recipe/2160.patch

@@ -0,0 +1,48 @@
+From 3bd4ae216e986b8030b9c0cec2eacf12eae2cbeb Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <[email protected]>
+Date: Mon, 21 Oct 2024 11:25:28 +0200
+Subject: [PATCH] Fix running tests out of a installed mujoco python package
+
+---
+ python/mujoco/specs_test.py | 11 ++++++++---
+ 1 file changed, 8 insertions(+), 3 deletions(-)
+
+diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
+index 84f10995be..9572a69ad6 100644
+--- a/python/mujoco/specs_test.py
++++ b/python/mujoco/specs_test.py
+@@ -15,9 +15,11 @@
+ """Tests for mjSpec bindings."""
+
+ import inspect
++import os
+ import textwrap
+
+ from absl.testing import absltest
++from etils import epath
+ import mujoco
+ import numpy as np
+
+@@ -433,7 +435,9 @@ def test_kwarg(self):
+     )
+
+   def test_load_xml(self):
+-    filename = '../../test/testdata/model.xml'
++    filename = os.path.join(
++      epath.resource_path("mujoco"), "testdata", "model.xml"
++    )
+     state_type = mujoco.mjtState.mjSTATE_INTEGRATION
+
+     # Load from file.
+@@ -692,8 +696,9 @@ def test_include(self):
+                      mujoco.mjtGeom.mjGEOM_BOX)
+
+   def test_delete(self):
+-    filename = '../../test/testdata/model.xml'
+-
++    filename = os.path.join(
++      epath.resource_path("mujoco"), "testdata", "model.xml"
++    )
+     spec = mujoco.MjSpec.from_file(filename)
+
+     model = spec.compile()

recipe/bld_py.bat

@@ -8,6 +8,8 @@ set CMAKE_GENERATOR_PLATFORM=
 set CMAKE_GENERATOR_TOOLSET=
 
 cd %SRC_DIR%\python
+# Workaround for missing pxr import https://github.com/conda-forge/mujoco-feedstock/pull/62
+del /F .\mujoco\usd\exporter_test.py
 bash make_sdist.sh
 if errorlevel 1 exit 1
 

recipe/build_py.sh

@@ -6,6 +6,8 @@ if [[ "${target_platform}" == osx-* ]]; then
 fi
 
 cd $SRC_DIR/python
+# Workaround for missing pxr import https://github.com/conda-forge/mujoco-feedstock/pull/62
+rm -rf ./mujoco/usd/exporter_test.py
 bash make_sdist.sh
 cd dist
 export MUJOCO_PATH=$PREFIX

recipe/meta.yaml

@@ -1,15 +1,15 @@
 {% set name = "mujoco" %}
 {% set namecxx = "libmujoco" %}
 {% set namepython = "mujoco-python" %}
-{% set version = "3.2.0" %}
+{% set version = "3.2.4" %}
 
 package:
   name: {{ name }}
   version: {{ version }}
 
 source:
   url: https://github.com/deepmind/mujoco/archive/refs/tags/{{ version }}.tar.gz
-  sha256: f389e786c143b4cba25c871695df0aed64736e78cbcc951815e934fdf7321d1d
+  sha256: 59d5d75dc66361aa3bdbdd409b96d7f6ecd86abcda06475233c796fc655b7b46
   patches:
     - python_remove_avx.patch
     - cxx_devendor.patch
@@ -25,11 +25,12 @@ source:
     - add_samples_prefix.patch
     - add_simulate_prefix.patch
     - 1477.patch
+    - 2160.patch
 
 build:
   # See https://github.com/conda-forge/mujoco-feedstock/issues/22
   skip: true  # [(aarch64 or ppc64le or osx) and python_impl == 'pypy']
-  number: 2
+  number: 0
 
 outputs:
   - name: {{ namecxx }}
@@ -252,7 +253,8 @@ outputs:
         - pip
       commands:
         # pypy skipped as a workaround for https://github.com/conda-forge/mujoco-feedstock/issues/37
-        - pytest --pyargs mujoco -v -k "not render"  # [python_impl != 'pypy']
+        # test_delete and test_load_xml disabled due to https://github.com/google-deepmind/mujoco/pull/2160
+        - pytest --pyargs mujoco -v -k "not (render or test_delete or test_load_xml)"  # [python_impl != 'pypy']
         - pip check
     about:
       home: https://github.com/deepmind/mujoco