merge main into branch + fix termination in td-targets

docker/environment.yaml

@@ -1,55 +1,47 @@
-name: tdmpc2
+name: episodic
 channels:
   - pytorch-nightly
   - nvidia
   - conda-forge
   - defaults
 dependencies:
-  - cudatoolkit=11.7
-  - glew=2.1.0
-  - glib=2.68.4
-  - pip=21.0
-  - python=3.9.0
-  - pytorch>=2.2.2
-  - torchvision>=0.16.2
+  - glew=2.2.0
+  - glib=2.78.4
+  - pip=24.0
+  - python=3.9
+  - pytorch=2.6.0.dev20241112
+  - pytorch-cuda=12.4
+  - torchvision=0.15.2
   - pip:
-    - absl-py==2.0.0
-    - "cython<3"
-    - dm-control==1.0.8
+    - dm-control==1.0.16
+    - glfw==2.7.0
+    - gymnasium==0.29.1
     - ffmpeg==1.4
-    - glfw==2.6.4
+    - imageio==2.34.1
+    - imageio-ffmpeg==0.4.9
+    - h5py==3.11.0
     - hydra-core==1.3.2
     - hydra-submitit-launcher==1.2.0
-    - imageio==2.33.1
-    - imageio-ffmpeg==0.4.9
-    - kornia==0.7.1
-    - moviepy==1.0.3
-    - mujoco==2.3.1
-    - mujoco-py==2.1.2.14
-    - numpy==1.23.5
-    - omegaconf==2.3.0
-    - open3d==0.18.0
-    - opencv-contrib-python==4.9.0.80
-    - opencv-python==4.9.0.80
-    - pandas==2.1.4
-    - sapien==2.2.1
     - submitit==1.5.1
-    - setuptools==65.5.0
-    - patchelf==0.17.2.1
-    - protobuf==4.25.2
-    - pillow==10.2.0
-    - pyquaternion==0.9.9
-    - tensordict-nightly==2024.3.26
+    - omegaconf==2.3.0
+    - moviepy==1.0.3
+    - mujoco==3.1.2
+    - numpy==1.24.4
+    - tensordict-nightly==2025.1.1
+    - torchrl-nightly==2025.1.1
+    - kornia==0.7.2
     - termcolor==2.4.0
-    - torchrl-nightly==2024.3.26
-    - transforms3d==0.4.1
-    - trimesh==4.0.9
-    - tqdm==4.66.1
-    - wandb==0.16.2
-    - wheel==0.38.0
+    - tqdm==4.66.4
+    - pandas==2.0.3
+    - wandb==0.17.4
     ####################
     # Gym:
-    # (unmaintained but required for maniskill2/meta-world/myosuite)
+    # (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:
@@ -61,6 +53,5 @@ dependencies:
     # - git+https://github.com/Farama-Foundation/Metaworld.git@04be337a12305e393c0caf0cbf5ec7755c7c8feb
     ####################
     # MyoSuite:
-    # (requires gym==0.13 which conflicts with meta-world / mani-skill2)
     # - myosuite
     ####################