From 2cebccb534786b2fc40b47b916a8cf43fb35fa51 Mon Sep 17 00:00:00 2001
From: Liu Liu <i@liuliu.me>
Date: Tue, 19 Jul 2022 21:49:15 -0400
Subject: [PATCH] Change to latest main. Prepare to 2.2.1 release.

---
 Package.resolved                 | 2 +-
 Package.swift                    | 2 +-
 Sources/MjModel+Extensions.swift | 2 +-
 Sources/Mjt.swift                | 3 +++
 WORKSPACE                        | 4 ++--
 deps.bzl                         | 4 ++--
 6 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/Package.resolved b/Package.resolved
index afd33f8f0..7a8d91fa8 100644
--- a/Package.resolved
+++ b/Package.resolved
@@ -6,7 +6,7 @@
         "repositoryURL": "https://github.com/liuliu/mujoco.git",
         "state": {
           "branch": null,
-          "revision": "00b459c00453de1494552e687d1fb4adc3de1b56",
+          "revision": "04fdacb29a04f96c826d5d289ca61d035a3a7f8b",
           "version": null
         }
       },
diff --git a/Package.swift b/Package.swift
index 0eae94734..f48b99af4 100644
--- a/Package.swift
+++ b/Package.swift
@@ -6,7 +6,7 @@ import PackageDescription
 var dependencies: [Package.Dependency] = [
   .package(
     name: "C_mujoco", url: "https://github.com/liuliu/mujoco.git",
-    .revision("00b459c00453de1494552e687d1fb4adc3de1b56")),
+    .revision("04fdacb29a04f96c826d5d289ca61d035a3a7f8b")),
   .package(url: "https://github.com/apple/swift-numerics", from: "1.0.0"),
 ]
 
diff --git a/Sources/MjModel+Extensions.swift b/Sources/MjModel+Extensions.swift
index 6c0ecd1e1..3489de117 100644
--- a/Sources/MjModel+Extensions.swift
+++ b/Sources/MjModel+Extensions.swift
@@ -1579,7 +1579,7 @@ extension MjModel {
       unsafeMutablePointer.assign(from: newValue._array, count: Int(nmesh * 1))
     }
   }
-  /// vertex positions for all meshe           (nmeshvert x 3)
+  /// vertex positions for all meshes          (nmeshvert x 3)
   @inlinable
   public var meshVert: MjArray<Float> {
     get { MjArray<Float>(array: _model.pointee.mesh_vert, object: _storage, len: nmeshvert * 3) }
diff --git a/Sources/Mjt.swift b/Sources/Mjt.swift
index f088ca698..13f4e4218 100644
--- a/Sources/Mjt.swift
+++ b/Sources/Mjt.swift
@@ -666,6 +666,7 @@ public enum MjtSensor: Int32, CustomStringConvertible {
   case subtreecom
   case subtreelinvel
   case subtreeangmom
+  case clock
   case user
   public var description: String {
     switch self {
@@ -739,6 +740,8 @@ public enum MjtSensor: Int32, CustomStringConvertible {
       return "subtreelinvel"
     case .subtreeangmom:
       return "subtreeangmom"
+    case .clock:
+      return "clock"
     case .user:
       return "user"
     }
diff --git a/WORKSPACE b/WORKSPACE
index 45d666a80..a436f97ae 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -74,9 +74,9 @@ new_git_repository(
 new_git_repository(
     name = "mujoco",
     build_file = "mujoco.BUILD",
-    commit = "d3a86bb748b272951185a24570f49ceccf07f4e7",
+    commit = "fa1536c2de47ede4dfa184a9139ed7217424ad99",
     remote = "https://github.com/deepmind/mujoco.git",
-    shallow_since = "1657012681 -0700",
+    shallow_since = "1658255253 -0700",
 )
 
 # Other helper functions
diff --git a/deps.bzl b/deps.bzl
index d372ea16a..39cf4b8c6 100644
--- a/deps.bzl
+++ b/deps.bzl
@@ -62,7 +62,7 @@ def swift_mujoco_deps():
         new_git_repository,
         name = "mujoco",
         build_file = "@swift-mujoco//:external/mujoco.BUILD",
-        commit = "d3a86bb748b272951185a24570f49ceccf07f4e7",
+        commit = "fa1536c2de47ede4dfa184a9139ed7217424ad99",
         remote = "https://github.com/deepmind/mujoco.git",
-        shallow_since = "1657012681 -0700",
+        shallow_since = "1658255253 -0700",
     )