Upgrades composer to use mujoco==3.10.0#317
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wpumacay wants to merge 2 commits into
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@juelg , seems there's some other places I missed that also use mjspec. Will check the failed workflow's outputs and update the files |
- With the new mjspec API, when attaching an object, the old reference spec (e.g. child_spec) is updated as well, and its names changes. This was causing the prefix being duplicated and was making it fail when searching for a specific reference in the new spec
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composer.pyto use the latest version of theMjSpecAPImujocoversion to3.10.0(latest atm)Here is a video of the cartesian control example for the fr3, seems to work just fine.
Kooha-2026-07-09-23-45-32.mp4
@juelg , as I mentioned on the lab, the changes are mostly improvements (apart from the breaking changes to the spec API), but it would be better if you can run your tests and also run your benchmarks to see that nothing iffy is going on.
Also, have to make sure that the wildcard for
libmujoco.so.*does the trick when building the manylinux wheels.