Support MuJoCo 3.0.0

rohanpsingh · Nov 9, 2023 · 428e54d · 428e54d
1 parent 179c2f6
commit 428e54d
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Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -55,7 +55,7 @@ jobs:
         set -e
         mkdir -p /opt
         cd /opt
-        MUJOCO_VERSION=2.3.7
+        MUJOCO_VERSION=3.0.0
         wget --quiet https://github.com/deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz
         tar xzf mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz
         mv mujoco-${MUJOCO_VERSION} mujoco

diff --git a/src/mj_utils.cpp b/src/mj_utils.cpp
@@ -197,11 +197,20 @@ void uiEvent(mjuiState * state)
       // find geom and 3D click point, get corresponding body
       mjrRect r = state->rect[0];
       mjtNum selpnt[3];
-      int selgeom, selskin;
+      int selgeom;
+      int selskin;
+#if mjVERSION_HEADER < 300
       int selbody =
           mjv_select(mj_sim->model, mj_sim->data, &mj_sim->options, (mjtNum)r.width / (mjtNum)r.height,
                      (mjtNum)(state->x - r.left) / (mjtNum)r.width, (mjtNum)(state->y - r.bottom) / (mjtNum)r.height,
                      &mj_sim->scene, selpnt, &selgeom, &selskin);
+#else
+      int selflex;
+      int selbody =
+          mjv_select(mj_sim->model, mj_sim->data, &mj_sim->options, (mjtNum)r.width / (mjtNum)r.height,
+                     (mjtNum)(state->x - r.left) / (mjtNum)r.width, (mjtNum)(state->y - r.bottom) / (mjtNum)r.height,
+                     &mj_sim->scene, selpnt, &selgeom, &selflex, &selskin);
+#endif
 
       // set lookat point, start tracking is requested
       if(selmode == 2 || selmode == 3)