Modify MuJoCo Warp dev version check

PiperOrigin-RevId: 869311325
Change-Id: I2f34bd932d7998d37b96b36e5d561f734567b8d5

Author: thowell

mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py

@@ -15,12 +15,12 @@
 
 import dataclasses
 import importlib.metadata
-import re
 import warnings
 from typing import Any, Optional, Sequence
 
 import mujoco
 import numpy as np
+import packaging.version
 import warp as wp
 
 from mujoco.mjx.third_party.mujoco_warp._src import bvh
@@ -31,18 +31,12 @@
 
 
 def _is_mujoco_dev() -> bool:
-  _DEV_VERSION_PATTERN = re.compile(r"^\d+\.\d+\.\d+.+")  # anything after x.y.z
-
-  version = getattr(__import__("mujoco"), "__version__", None)
-  if version and _DEV_VERSION_PATTERN.match(version):
-    return True
-
-  # fall back to metadata
-  dist_version = importlib.metadata.version("mujoco")
-  if _DEV_VERSION_PATTERN.match(dist_version):
-    return True
-
-  return False
+  """Checks if mujoco version is > 3.4.0."""
+  version_str = getattr(mujoco, "__version__", None)
+  if not version_str:
+    version_str = importlib.metadata.version("mujoco")
+  version_str = version_str.split("-")[0].split(".dev")[0]
+  return packaging.version.parse(version_str) > packaging.version.parse("3.4.0")
 
 
 BLEEDING_EDGE_MUJOCO = _is_mujoco_dev()