From 9ea1d8b3f5f65100c229faa69a5ad8d7b311f260 Mon Sep 17 00:00:00 2001
From: Haoru Xue <haoru-xue@berkeley.edu>
Date: Fri, 31 Jan 2025 20:11:57 -0800
Subject: [PATCH] remove deprecated mjv_makeconnector

---
 dial_mpc/deploy/dial_sim.py | 14 +++++---------
 setup.py                    |  2 +-
 2 files changed, 6 insertions(+), 10 deletions(-)

diff --git a/dial_mpc/deploy/dial_sim.py b/dial_mpc/deploy/dial_sim.py
index 0488a21..861e8f9 100644
--- 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
index c49d38e..adb3c13 100644
--- a/setup.py
+++ b/setup.py
@@ -12,7 +12,7 @@
           'tyro',
           'jax[cuda12]',
           'jax-cosmo',
-          'mujoco<3.2.5',
+          'mujoco',
           'brax',
           'art',
           'emoji',