Merge branch 'google-deepmind:main' into musculoskeletal_dog_creation

Author: vittorione94

dm_control/mjcf/schema.xml

@@ -444,7 +444,9 @@
             <attribute name="user" type="array" array_type="float"/>
             <attribute name="kp" type="float"/>
             <attribute name="kv" type="float"/>
+            <attribute name="dampratio" type="float"/>
             <attribute name="timeconst" type="float"/>
+            <attribute name="inheritrange" type="float"/>
           </attributes>
         </element>
         <element name="velocity">
@@ -473,6 +475,8 @@
             <attribute name="user" type="array" array_type="float"/>
             <attribute name="kp" type="float"/>
             <attribute name="kv" type="float"/>
+            <attribute name="dampratio" type="float"/>
+            <attribute name="inheritrange" type="float"/>
           </attributes>
         </element>
         <element name="damper">
@@ -751,7 +755,9 @@
                 <attribute name="user" type="array" array_type="float"/>
                 <attribute name="kp" type="float"/>
                 <attribute name="kv" type="float"/>
+                <attribute name="dampratio" type="float"/>
                 <attribute name="timeconst" type="float"/>
+                <attribute name="inheritrange" type="float"/>
               </attributes>
             </element>
             <element name="velocity">
@@ -778,6 +784,8 @@
                 <attribute name="user" type="array" array_type="float"/>
                 <attribute name="kp" type="float"/>
                 <attribute name="kv" type="float"/>
+                <attribute name="dampratio" type="float"/>
+                <attribute name="inheritrange" type="float"/>
               </attributes>
             </element>
             <element name="damper">
@@ -1999,7 +2007,9 @@
             <attribute name="user" type="array" array_type="float"/>
             <attribute name="kp" type="float"/>
             <attribute name="kv" type="float"/>
+            <attribute name="dampratio" type="float"/>
             <attribute name="timeconst" type="float"/>
+            <attribute name="inheritrange" type="float"/>
           </attributes>
         </element>
         <element name="velocity" repeated="true" namespace="actuator">
@@ -2048,6 +2058,8 @@
             <attribute name="user" type="array" array_type="float"/>
             <attribute name="kp" type="float"/>
             <attribute name="kv" type="float"/>
+            <attribute name="dampratio" type="float"/>
+            <attribute name="inheritrange" type="float"/>
           </attributes>
         </element>
         <element name="damper" repeated="true" namespace="actuator">

dm_control/mujoco/tutorial.ipynb

@@ -93,7 +93,7 @@
         "\"\"\")\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.19\n",
+        "!pip install -q dm_control\u003e=1.0.20\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",

requirements.txt

@@ -4,9 +4,9 @@ dm-tree==0.1.8
 glfw==1.12.0
 h5py==3.11.0
 labmaze==1.0.6
-lxml==5.2.1
+lxml==5.2.2
 mock==5.1.0
-mujoco==3.1.5
+mujoco==3.1.6
 nose==1.3.7
 nose-xunitmp==0.4.1
 numpy==1.24.4; python_version == '3.8'
@@ -15,8 +15,8 @@ Pillow==10.3.0
 protobuf==3.19.4  # TensorFlow requires protobuf<3.20 (b/182876485)
 pyopengl==3.1.7
 pyparsing==3.1.2
-requests==2.31.0
+requests==2.32.3
 scipy==1.10.1; python_version == '3.8'
-scipy==1.13.0; python_version >= '3.9'
-setuptools==69.0.2
+scipy==1.13.1; python_version >= '3.9'
+setuptools==70.0.0
 tqdm==4.66.4

setup.py

@@ -173,7 +173,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='1.0.19',
+    version='1.0.20',
     description='Continuous control environments and MuJoCo Python bindings.',
     long_description="""
 # `dm_control`: DeepMind Infrastructure for Physics-Based Simulation.
@@ -201,7 +201,7 @@ def is_excluded(s):
         'glfw',
         'labmaze',
         'lxml',
-        'mujoco >= 3.1.5',
+        'mujoco >= 3.1.6',
         'numpy >= 1.9.0',
         'protobuf >= 3.19.4',  # TensorFlow requires protobuf<3.20 (b/182876485)
         'pyopengl >= 3.1.4',

tutorial.ipynb

@@ -93,7 +93,7 @@
         "\"\"\")\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.19\n",
+        "!pip install -q dm_control\u003e=1.0.20\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",