Bump MuJoCo library version to 3.4.0

CMakeLists.txt

@@ -41,7 +41,7 @@ else()
   include(FetchContent)
 
   # Detect architecture
-  set(MUJOCO_VERSION "3.3.4")
+  set(MUJOCO_VERSION "3.4.0")
   if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64|AMD64")
     set(CPU_ARCH "x86_64")
   elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64|arm64")

README.md

@@ -1,16 +1,16 @@
 # MuJoCo ros2_control Simulation
 
-This package contains a ros2_control system interface for the [MuJoCo Simulator](https://mujoco.readthedocs.io/en/3.3.4/overview.html).
+This package contains a ros2_control system interface for the [MuJoCo Simulator](https://mujoco.readthedocs.io/en/3.4.0/overview.html).
 It was originally written for simulating robot hardware in NASA Johnson's [iMETRO facility](https://ntrs.nasa.gov/citations/20230015485).
 
-The system interface wraps MuJoCo's [Simulate App](https://github.com/google-deepmind/mujoco/tree/3.3.4/simulate) to provide included functionality.
+The system interface wraps MuJoCo's [Simulate App](https://github.com/google-deepmind/mujoco/tree/3.4.0/simulate) to provide included functionality.
 Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
 
 Parts of this library are also based on the MoveIt [mujoco_ros2_control](https://github.com/moveit/mujoco_ros2_control) package.
 
 ## Installation
 
-This interface has only been tested against ROS 2 jazzy and MuJoCo `3.3.4`.
+This interface has only been tested against ROS 2 jazzy and MuJoCo `3.4.0`.
 It should also be compatible with kilted and rolling, but we do not actively maintain those.
 We assume all required ROS dependencies have been installed either manually or with `rosdep`.
 
@@ -21,10 +21,10 @@ However, a local install of MuJoCo can be used to build the application by setti
 
 ```bash
 # The tested version
-MUJOCO_VERSION=3.3.4
+MUJOCO_VERSION=3.4.0
 
 # Wherever it was installed and extracted on your machine
-MUJOCO_INSTALL_DIR=/opt/mujoco/mujoco-3.3.4
+MUJOCO_INSTALL_DIR=/opt/mujoco/mujoco-3.4.0
 ```
 
 From there the library can be compiled with `colcon build ...`, as normal.

docker/Dockerfile

@@ -14,7 +14,7 @@ FROM ros:${ROS_DISTRO} AS mujoco_ros
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Defaults for the MuJoCo install, CPU_ARCH may be set to aarch64 for arm cpus
-ARG MUJOCO_VERSION=3.3.4
+ARG MUJOCO_VERSION=3.4.0
 ARG CPU_ARCH=x86_64
 
 ARG DEBIAN_FRONTEND=noninteractive

pixi.toml

@@ -16,7 +16,7 @@ LDFLAGS = "-L${CONDA_PREFIX}/lib -Wl,-rpath,${CONDA_PREFIX}/lib"
 CXXFLAGS = "-fuse-ld=mold"
 
 # The default location for mujoco
-MUJOCO_DIR="${PIXI_PROJECT_ROOT}/mujoco/mujoco-3.3.4"
+MUJOCO_DIR="${PIXI_PROJECT_ROOT}/mujoco/mujoco-3.4.0"
 
 [tasks]
 # Setup tasks
@@ -63,4 +63,4 @@ ros-jazzy-rviz2 = "*"
 [pypi-dependencies]
 xacro = ">=2.1.1, <3"
 obj2mjcf = ">=0.0.25"
-mujoco = "==3.3.4"
+mujoco = "==3.4.0"

src/mujoco_cameras.cpp

@@ -225,7 +225,7 @@ void MujocoCameras::update()
   for (auto& camera : cameras_)
   {
     // Fix non-linear projections in the depth image and flip the data.
-    // https://github.com/google-deepmind/mujoco/blob/3.3.4/python/mujoco/renderer.py#L190
+    // https://github.com/google-deepmind/mujoco/blob/3.4.0/python/mujoco/renderer.py#L190
     for (uint32_t h = 0; h < camera.height; h++)
     {
       for (uint32_t w = 0; w < camera.width; w++)

src/mujoco_system_interface.cpp

@@ -1721,8 +1721,15 @@ void MujocoSystemInterface::PhysicsLoop()
                 sim_->measured_slowdown = std::chrono::duration<double>(elapsedCPU).count() / elapsedSim;
                 measured = true;
               }
-              // inject noise
+// inject noise
+// Use mjVERSION_HEADER and if it is greater than 337 then do one thing or another
+// Needed due to
+// https://github.com/google-deepmind/mujoco/commit/401bf431b8b0fe6e0a619412a607b5135dc4ded4#diff-3dc22ceeebd71304c41d349c6d273bda172ea88ff49c772dbdcf51b9b19bbd33R2943
+#if mjVERSION_HEADER < 337
               sim_->InjectNoise();
+#else
+              sim_->InjectNoise(-1);
+#endif
 
               // Copy data to the control
               mju_copy(mj_data_->ctrl, mj_data_control_->ctrl, mj_model_->nu);