Bump MuJoCo version to 2.3.2.

PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f

cmake/CheckAvxSupport.cmake

@@ -20,6 +20,9 @@ function(get_avx_compile_options OUTPUT_VAR)
 
   if(MSVC)
     set(CMAKE_REQUIRED_FLAGS "/arch:AVX")
+  elseif(WIN32)
+    # Abseil LTS 20230125.0 assumes that AVX implies PCLMUL on Windows.
+    set(CMAKE_REQUIRED_FLAGS "-mavx" "-mpclmul")
   else()
     set(CMAKE_REQUIRED_FLAGS "-mavx")
   endif()

cmake/MujocoDependencies.cmake

@@ -23,7 +23,7 @@ set(MUJOCO_DEP_VERSION_lodepng
     CACHE STRING "Version of `lodepng` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_tinyxml2
-    1dee28e51f9175a31955b9791c74c430fe13dc82 # 9.0.0
+    9a89766acc42ddfa9e7133c7d81a5bda108a0ade
     CACHE STRING "Version of `tinyxml2` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_tinyobjloader
@@ -39,17 +39,17 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    3bb6a48d8c171cf20b5f8e48bfb4e424fbd4f79e
+    3460f3558e7b469efb8a225894e21929c8c77629
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_abseil
-    8c0b94e793a66495e0b1f34a5eb26bd7dc672db0 # LTS 20220623.1
+    78be63686ba732b25052be15f8d6dee891c05749 # LTS 20230125.0
     CACHE STRING "Version of `abseil` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_gtest
-    58d77fa8070e8cec2dc1ed015d66b454c8d78850 # release-1.12.1
+    b796f7d44681514f58a683a3a71ff17c94edb0c1 # release-1.13.0
     CACHE STRING "Version of `gtest` to be fetched."
 )
 

cmake/MujocoOptions.cmake

@@ -95,12 +95,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
         -Wno-stringop-overflow
         -Wno-stringop-truncation
     )
-  elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "15.0.0")
-    # Needed for https://github.com/abseil/abseil-cpp/issues/1201, until a new
-    # version of abseil is released with the fix.
-    set(EXTRA_COMPILE_OPTIONS "${EXTRA_COMPILE_OPTIONS}"
-        -Wno-deprecated-builtins
-    )
   endif()
 endif()