diff --git a/.github/workflows/build-mujoco.yml b/.github/workflows/build-mujoco.yml
index 19f1813c7ef7..73053971aae6 100644
--- a/.github/workflows/build-mujoco.yml
+++ b/.github/workflows/build-mujoco.yml
@@ -179,10 +179,13 @@ jobs:
           # mujoco.sysid.tests (collected by `pytest --pyargs mujoco`) imports the whole
           # `[sysid]` extra upstream declares in pyproject.toml; installing it explicitly
           # here avoids discovering its deps one ModuleNotFoundError at a time.
+          # pillow (pulled in by matplotlib here, by imageio below) is wheel-only in both
+          # installs: the registry has riscv64 wheels, while the PyPI sdist fails to
+          # build here for lack of jpeg headers.
           "$PYBIN/pip" install -U --extra-index-url "$PIP_EXTRA_INDEX_URL" \
-            --only-binary=numpy,glfw,scipy,matplotlib,pyyaml \
+            --only-binary=numpy,glfw,scipy,matplotlib,pyyaml,pillow \
             "numpy>=2.0" glfw scipy matplotlib pyyaml
-          "$PYBIN/pip" install -U pytest absl-py "etils[epath]" pyopengl \
+          "$PYBIN/pip" install -U --only-binary=pillow pytest absl-py "etils[epath]" pyopengl \
             colorama imageio jinja2 plotly tabulate typing_extensions
           "$PYBIN/pip" install /output/mujoco-*.whl
 
diff --git a/docs/packages/mujoco.yaml b/docs/packages/mujoco.yaml
index 7af84d28feeb..aa52cdaad7ce 100644
--- a/docs/packages/mujoco.yaml
+++ b/docs/packages/mujoco.yaml
@@ -63,3 +63,4 @@ versions:
     sha256: 97f81a7e5224dc354df3f041f1566ef948ca83efeb6cab8dd0d26c0002b9d5ab
     requires-python: '>=3.10'
 - version: 3.16.0
+- version: 3.17.0