From e1535d0029c35b6cbd364d0171482d07bfa1cfb8 Mon Sep 17 00:00:00 2001
From: Sergei Surovtsev <ssurovsev@gmail.com>
Date: Thu, 25 Jan 2024 14:00:44 +0300
Subject: [PATCH] updated to recent bevy_rl

---
 Cargo.toml               | 12 ++++++------
 examples/a1_walk.rs      |  8 ++++----
 examples/bevy_rl_rest.rs | 12 ++++++------
 3 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index e8c8543..d10db90 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,16 +1,16 @@
 [package]
 name = "bevy_quadruped_neural_control"
-version = "0.0.2"
+version = "0.0.3"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/stillonearth/bevy_quadruped_neural_control"
 
 [dependencies]
-bevy = "0.10.0"
-bevy_rl = { version = "0.10.0-beta" }                                                      # { version = "0.9.6" }
-bevy_mujoco = { git = "https://github.com/stillonearth/bevy_mujoco.git", rev = "51192fe" }
-bevy-inspector-egui = { version = "0.18.1" }
-bevy_flycam = { git = "https://github.com/NiklasEi/bevy_flycam.git", rev = "7d69689" }
+bevy = "0.12"
+bevy_rl = { version = "0.12" }                                                      # { version = "0.9.6" }
+bevy_mujoco = { version = "0.12" }
+# bevy-inspector-egui = { version = "0.18.1" }
+bevy_flycam = { git = "https://github.com/sburris0/bevy_flycam" }
 rand = "0.8.5"
 serde = "1.0.158"
 serde_derive = "1.0.158"
diff --git a/examples/a1_walk.rs b/examples/a1_walk.rs
index fd7633b..dec760d 100644
--- a/examples/a1_walk.rs
+++ b/examples/a1_walk.rs
@@ -111,13 +111,13 @@ fn main() {
             target_fps: 600.0, // this is not actual fps (bug in bevy_mujoco),
                                // the bigger the value, the slower the simulation
         })
-        .add_plugin(NoCameraPlayerPlugin)
+        .add_plugins(NoCameraPlayerPlugin)
         .insert_resource(MovementSettings {
             speed: 1.0,
             ..default()
         })
-        .add_plugin(MuJoCoPlugin)
-        .add_startup_system(setup)
-        .add_system(robot_control_loop)
+        .add_plugins(MuJoCoPlugin)
+        .add_systems(Startup, setup)
+        .add_systems(Update, robot_control_loop)
         .run();
 }
diff --git a/examples/bevy_rl_rest.rs b/examples/bevy_rl_rest.rs
index 6b5a6be..085575a 100644
--- a/examples/bevy_rl_rest.rs
+++ b/examples/bevy_rl_rest.rs
@@ -83,12 +83,12 @@ fn main() {
 
     // Basic bevy setup
     app.add_plugins(DefaultPlugins)
-        .add_plugin(NoCameraPlayerPlugin)
+        .add_plugins(NoCameraPlayerPlugin)
         .insert_resource(MovementSettings {
             speed: 3.0,
             ..default()
         })
-        .add_startup_system(setup);
+        .add_systems(Startup, setup);
 
     // Setup bevy_mujoco
     app.insert_resource(MuJoCoPluginSettings {
@@ -96,7 +96,7 @@ fn main() {
         pause_simulation: false,
         target_fps: 600.0,
     })
-    .add_plugin(MuJoCoPlugin);
+    .add_plugins(MuJoCoPlugin);
 
     // Setup bevy_rl
     let ai_gym_state = AIGymState::<Actions, EnvironmentState>::new(AIGymSettings {
@@ -106,11 +106,11 @@ fn main() {
         ..default()
     });
     app.insert_resource(ai_gym_state)
-        .add_plugin(AIGymPlugin::<Actions, EnvironmentState>::default());
+        .add_plugins(AIGymPlugin::<Actions, EnvironmentState>::default());
 
     // bevy_rl events
-    app.add_system(bevy_rl_pause_request);
-    app.add_system(bevy_rl_control_request);
+    app.add_systems(Update, bevy_rl_pause_request);
+    app.add_systems(Update, bevy_rl_control_request);
 
     // Start
     app.run();