updates for compatibility with mujoco 3.0.0

rohanpsingh · Nov 14, 2023 · 3e98063 · 3e98063
1 parent edfc2d3
commit 3e98063
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Showing 3 changed files with 40 additions and 15 deletions.
diff --git a/mujoco_viewer/callbacks.py b/mujoco_viewer/callbacks.py
@@ -5,6 +5,7 @@
 import yaml
 from threading import Lock
 
+MUJOCO_VERSION=tuple(map(int, mujoco.__version__.split('.')))
 
 class Callbacks:
     def __init__(self, hide_menus):
@@ -254,18 +255,34 @@ def _mouse_button_callback(self, window, button, act, mods):
             rely = (self.viewport.height - y) / height
             selpnt = np.zeros((3, 1), dtype=np.float64)
             selgeom = np.zeros((1, 1), dtype=np.int32)
+            selflex = np.zeros((1, 1), dtype=np.int32)
             selskin = np.zeros((1, 1), dtype=np.int32)
-            selbody = mujoco.mjv_select(
-                self.model,
-                self.data,
-                self.vopt,
-                aspectratio,
-                relx,
-                rely,
-                self.scn,
-                selpnt,
-                selgeom,
-                selskin)
+
+            if MUJOCO_VERSION>=(3,0,0):
+                selbody = mujoco.mjv_select(
+                    self.model,
+                    self.data,
+                    self.vopt,
+                    aspectratio,
+                    relx,
+                    rely,
+                    self.scn,
+                    selpnt,
+                    selgeom,
+                    selflex,
+                    selskin)
+            else:
+                selbody = mujoco.mjv_select(
+                    self.model,
+                    self.data,
+                    self.vopt,
+                    aspectratio,
+                    relx,
+                    rely,
+                    self.scn,
+                    selpnt,
+                    selgeom,
+                    selskin)
 
             # set lookat point, start tracking is requested
             if selmode == 2 or selmode == 3:

diff --git a/mujoco_viewer/mujoco_viewer.py b/mujoco_viewer/mujoco_viewer.py
@@ -6,6 +6,7 @@
 import yaml
 from .callbacks import Callbacks
 
+MUJOCO_VERSION=tuple(map(int, mujoco.__version__.split('.')))
 
 class MujocoViewer(Callbacks):
     def __init__(
@@ -317,9 +318,16 @@ def add_overlay(gridpos, text1, text2):
         add_overlay(
             bottomleft, "FPS", "%d%s" %
             (1 / self._time_per_render, ""))
-        add_overlay(
-            bottomleft, "Solver iterations", str(
-                self.data.solver_iter + 1))
+
+        if MUJOCO_VERSION>=(3,0,0):
+            add_overlay(
+                bottomleft, "Max solver iters", str(
+                    max(self.data.solver_niter) + 1))
+        else:
+            add_overlay(
+                bottomleft, "Solver iterations", str(
+                    self.data.solver_iter + 1))
+
         add_overlay(
             bottomleft, "Step", str(
                 round(

diff --git a/setup.py b/setup.py
@@ -2,7 +2,7 @@
 import os
 from setuptools import find_packages, setup
 
-VERSION = '0.1.3'
+VERSION = '0.1.4'
 
 INSTALL_REQUIRES = (
     ['mujoco >= 2.1.5',