simplify dmcontrol wrappers + upgrade to gymnasium==0.29.1

docker/environment.yaml

@@ -13,10 +13,9 @@ dependencies:
   - pytorch-cuda=12.4
   - torchvision=0.15.2
   - pip:
-    - absl-py==2.1.0
-    - "cython<3"
-    - dm-control==1.0.8
+    - dm-control==1.0.16
     - glfw==2.7.0
+    - gymnasium==0.29.1
     - ffmpeg==1.4
     - imageio==2.34.1
     - imageio-ffmpeg==0.4.9
@@ -24,12 +23,9 @@ dependencies:
     - hydra-core==1.3.2
     - hydra-submitit-launcher==1.2.0
     - submitit==1.5.1
-    - setuptools==65.5.0
-    - patchelf==0.17.2.1
     - omegaconf==2.3.0
     - moviepy==1.0.3
-    - mujoco==2.3.1
-    - mujoco-py==2.1.2.14
+    - mujoco==3.1.2
     - numpy==1.24.4
     - tensordict-nightly==2024.11.14
     - torchrl-nightly==2024.11.14
@@ -38,10 +34,14 @@ dependencies:
     - tqdm==4.66.4
     - pandas==2.0.3
     - wandb==0.17.4
-    - wheel==0.38.0
     ####################
     # Gym:
     # (unmaintained but required for maniskill2/meta-world)
+    # - "cython<3"
+    # - wheel==0.38.0
+    # - setuptools==65.5.0
+    # - mujoco==2.3.1
+    # - mujoco-py==2.1.2.14
     # - gym==0.21.0
     ####################
     # ManiSkill2: