Merge pull request #14 from kevinzakka/main

kevinzakka · web-flow · commit b49b648065db · 2023-11-30T16:55:00.000-08:00
Bump mujoco version.
diff --git a/robopianist/viewer/renderer.py b/robopianist/viewer/renderer.py
@@ -505,6 +505,7 @@ def raycast(self, viewport, screen_pos):
         grab_world_pos = np.empty(3, dtype=np.double)
         selected_geom_id_arr = np.intc([-1])
         selected_skin_id_arr = np.intc([-1])
+        selected_flex_id_arr = np.intc([-1])
         selected_body_id = mujoco.mjv_select(
             self._model.ptr,
             self._data.ptr,
@@ -515,9 +516,14 @@ def raycast(self, viewport, screen_pos):
             self._scene.ptr,
             grab_world_pos,
             selected_geom_id_arr,
+            selected_flex_id_arr,
             selected_skin_id_arr,
         )
-        del selected_geom_id_arr, selected_skin_id_arr  # Unused.
+        del (
+            selected_geom_id_arr,
+            selected_skin_id_arr,
+            selected_flex_id_arr,
+        )  # Unused.
         if selected_body_id < 0:
             selected_body_id = _INVALID_BODY_INDEX
             grab_world_pos = None
diff --git a/setup.py b/setup.py
@@ -34,9 +34,9 @@
     readme = f.read()
 
 core_requirements = [
-    "dm_control>=1.0.9",
+    "dm_control>=1.0.15",
     "dm_env_wrappers>=0.0.11",
-    "mujoco>=2.3.1",
+    "mujoco>=3.0.1",
     "mujoco_utils>=0.0.6",
     "note_seq>=0.0.5",
     "pretty_midi>=0.2.10",
