From cca35cff0ec62f1a18b11440de6b09e2d10a1380 Mon Sep 17 00:00:00 2001
From: angel <angelos.h@hotmail.com>
Date: Tue, 5 Nov 2024 21:58:07 +0000
Subject: [PATCH] Update MuJoCo to 3.X (#493)

---
 metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py | 2 +-
 pyproject.toml                                     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
index a7ca202ac..f540a7fe7 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
@@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None:
             for i in range(self.model.eq_data.shape[0]):
                 if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD:
                     self.model.eq_data[i] = np.array(
-                        [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+                        [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 5.0]
                     )
 
 
diff --git a/pyproject.toml b/pyproject.toml
index f203eb202..64fdb2c69 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -25,7 +25,7 @@ classifiers = [
 ]
 dependencies = [
     "gymnasium>=1.0.0a1",
-    "mujoco<3.0.0",
+    "mujoco>=3.0.0",
     "numpy>=1.18",
     "scipy>=1.4.1",
     "imageio"