Update MuJoCo to 3.X (#493)

rainx0r · web-flow · commit cca35cff0ec6 · 2024-11-05T16:58:07.000-05:00
diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
@@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None:
             for i in range(self.model.eq_data.shape[0]):
                 if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD:
                     self.model.eq_data[i] = np.array(
-                        [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+                        [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 5.0]
                     )
 
 
diff --git a/pyproject.toml b/pyproject.toml
@@ -25,7 +25,7 @@ classifiers = [
 ]
 dependencies = [
     "gymnasium>=1.0.0a1",
-    "mujoco<3.0.0",
+    "mujoco>=3.0.0",
     "numpy>=1.18",
     "scipy>=1.4.1",
     "imageio"

Original file line number	Diff line number	Diff line change
`@@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None:`
`131`	`131`	`for i in range(self.model.eq_data.shape[0]):`
`132`	`132`	`if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD:`
`133`	`133`	`self.model.eq_data[i] = np.array(`
`134`		`- [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]`
	`134`	`+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 5.0]`
`135`	`135`	`)`
`136`	`136`
`137`	`137`