remove deprecated mjv_makeconnector

LeCAR-Lab · Feb 1, 2025 · f770410 · f770410
1 parent 6ce0247
commit f770410
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Showing 2 changed files with 6 additions and 10 deletions.
diff --git a/dial_mpc/deploy/dial_sim.py b/dial_mpc/deploy/dial_sim.py
@@ -189,16 +189,12 @@ def main_loop(self):
                 for j in range(self.mj_model.nu):
                     r0 = self.refs_shared[i, j, :]
                     r1 = self.refs_shared[i + 1, j, :]
-                    mujoco.mjv_makeConnector(
+                    mujoco.mjv_connector(
                         viewer.user_scn.geoms[i * self.mj_model.nu + j],
-                        type=mujoco.mjtGeom.mjGEOM_CAPSULE,
-                        width=0.02,
-                        a0=r0[0],
-                        a1=r0[1],
-                        a2=r0[2],
-                        b0=r1[0],
-                        b1=r1[1],
-                        b2=r1[2],
+                        mujoco.mjtGeom.mjGEOM_CAPSULE,
+                        0.02,
+                        r0,
+                        r1,
                     )
             if self.sync_mode:
                 while self.t <= (self.plan_time_shared[0] + self.ctrl_dt):

diff --git a/setup.py b/setup.py
@@ -12,7 +12,7 @@
           'tyro',
           'jax[cuda12]',
           'jax-cosmo',
-          'mujoco<3.2.5',
+          'mujoco',
           'brax',
           'art',
           'emoji',