Bump numpy and scipy versions for Python >= 3.8.

The numpy version bump addresses CVE-2021-34141.

PiperOrigin-RevId: 461840285
Change-Id: I0c85d2b8c3eeeea3ccf98ecaf6a16899cb6e9bcf

Author: saran-t

dm_control/composer/entity_test.py

@@ -356,8 +356,8 @@ def testSetPose(self, position, quaternion, freejoint):
 
     subentity.set_pose(physics, position=position, quaternion=quaternion)
 
-    np.testing.assert_array_equal(physics.bind(frame).xpos, ground_truth_pos)
-    np.testing.assert_array_equal(physics.bind(frame).xquat, ground_truth_quat)
+    np.testing.assert_allclose(physics.bind(frame).xpos, ground_truth_pos)
+    np.testing.assert_allclose(physics.bind(frame).xquat, ground_truth_quat)
 
   @parameterized.parameters(*_param_product(
       original_position=[[-2, -1, -1.], [1., 0., -1.]],

requirements.txt

@@ -9,12 +9,14 @@ mock==4.0.3
 mujoco==2.2.1
 nose==1.3.7
 nose-xunitmp==0.4.1
-numpy==1.21.6
+numpy==1.21.6; python_version == '3.7'
+numpy==1.23.1; python_version >= '3.8'
 Pillow==9.2.0
 protobuf==3.20.1
 pyopengl==3.1.6
 pyparsing==2.4.7
 requests==2.28.1
-scipy==1.7.3
+scipy==1.7.3; python_version == '3.7'
+scipy==1.8.1; python_version >= '3.8'
 setuptools==63.2.0
 tqdm==4.64.0