Add a new MuJoCo version

This page describes the typical workflow for adding a new dist/<ver>/ to the repository.

Steps

  1. Pick a target ref (tag or commit hash).

  2. Build it:

    python3 forge_cli.py build --version <mjver> --with-checks

  3. Review ABI/export diffs:

    • dist/<mjver>/abi/exports.lst

    • dist/<mjver>/abi/exports_report_funcs.md

  4. If exports changed, decide whether it’s acceptable and update wrappers/gates as needed.

  5. Commit the new dist/<mjver>/ directory (and any pipeline changes).

Tips

  • Prefer building tags like 3.5.0 unless you need a specific commit.

  • Run verify-dist in CI when committing new dist/<ver>.