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Raise the MuJoCo minimum to 3.13.0 - #1777
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thowell merged 1 commit intoOct 12, 2026
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MuJoCo 3.12.0 satisfies the declared dependency but lacks mjINT_DISCRETE, which is referenced unconditionally at import time. Installing a permitted engine can therefore make mujoco_warp fail to import. Require MuJoCo 3.13.0, the oldest stable release verified to import and run forward and step with the existing APIs. Raising the bound rejects incompatible engines during resolution without compatibility shims.
thowell
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Oct 12, 2026
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The declared
mujoco>=3.12.0requirement permits MuJoCo 3.12.0, which lacksmujoco.mjtIntegrator.mjINT_DISCRETE. BecauseIntegratorTypereferences that enum unconditionally, importingmujoco_warpraisesAttributeErrorwith an allowed dependency version. The reported3.12.1.dev967732139wheel has the same failure.Raise the minimum to
mujoco>=3.13.0and synchronize the lockfile requirement. MuJoCo 3.13.0 is the first stable release with the discrete integrator, and the oldest stable release verified in these checks. Raising the bound rejects incompatible engines during dependency resolution without introducing compatibility shims.Validated on Python 3.12 with Warp 1.15.0: MuJoCo 3.13.0 passes import, model/data conversion, forward, and one step on CPU and CUDA for Euler, implicitfast, and discrete, with numerical comparison against MuJoCo. The original
3.12.1.dev967732139pin is now rejected during dependency resolution, and targeted pre-commit checks pass. The full suite was not run for this dependency-only change.