From 6f9567ecf47298cff3703586816907c3790de495 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Wed, 13 Mar 2024 11:16:48 -0400
Subject: [PATCH 01/31] updated to new version of gdown to fix download bug;
 fixed myochallenge baseline example file; docs to be fixed as well;

---
 examples/example_load_baseline_myosuite.py | 14 +++++++-------
 pyproject.toml                             |  2 +-
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/examples/example_load_baseline_myosuite.py b/examples/example_load_baseline_myosuite.py
index d25a8fe..9ab85f8 100644
--- a/examples/example_load_baseline_myosuite.py
+++ b/examples/example_load_baseline_myosuite.py
@@ -1,18 +1,19 @@
 # This example requires the installation of myosuite
 # pip install myosuite
 
+import time
+
 import gym
 import myosuite  # noqa
 
 import deprl
 
 # create the sconegym env
-env = gym.make("myoLegChaseTagP1-v0")
-
+env = gym.make("myoChallengeChaseTagP1-v0")
 policy = deprl.load_baseline(env)
 
 env.seed(0)
-for ep in range(5):
+for ep in range(10):
     ep_steps = 0
     ep_tot_reward = 0
     state = env.reset()
@@ -25,15 +26,14 @@
 
         ep_steps += 1
         ep_tot_reward += reward
-        env.render()
+        env.mj_render()
+        time.sleep(0.01)
 
         # check if done
         if done or (ep_steps >= 1000):
             print(
-                f"Episode {ep} ending; steps={ep_steps}; reward={ep_tot_reward:0.3f}; \
-                com={env.model.com_pos()}"
+                f"Episode {ep} ending; steps={ep_steps}; reward={ep_tot_reward:0.3f};"
             )
-            env.write_now()
             env.reset()
             break
 
diff --git a/pyproject.toml b/pyproject.toml
index 6a53a1c..8e2ef48 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -13,7 +13,7 @@ pyyaml = "^6.0"
 numpy = "^1.22.4"
 termcolor = "^2.2.0"
 pandas = "^2.0.1"
-gdown = "^4.7.1"
+gdown = "^5.1.0"
 gym = "0.13.0"
 wandb = "^0.15.4"
 # torch = {version="2.1.0", source="pytorch-cpu"}

From 58d61807b10cd6e42a33da1cb68a28dae7d18eb3 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Fri, 15 Dec 2023 11:08:05 -0600
Subject: [PATCH 02/31] workflow update

---
 .github/workflows/python-app.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/python-app.yml b/.github/workflows/python-app.yml
index 989acad..1c9e716 100644
--- a/.github/workflows/python-app.yml
+++ b/.github/workflows/python-app.yml
@@ -4,13 +4,13 @@ name: Python application
 
 on:
   push:
-    branches: [ "main" , "dev_internal"]
+    branches: [ "main" , "dev"]
     paths-ignore:
       - "doc/**"
       - "**/README.md"
 
   pull_request:
-    branches: [ "main" , "dev_internal"]
+    branches: [ "main" , "dev"]
     paths-ignore:
       - "doc/**"
       - "**/README.md"

From 6e7ea698780db78e65ff24506bb8db1e04dc2c14 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Fri, 15 Dec 2023 11:38:20 -0600
Subject: [PATCH 03/31] readme update

---
 README.md | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index d79c668..32659c1 100644
--- a/README.md
+++ b/README.md
@@ -4,9 +4,10 @@
  [![Downloads](https://static.pepy.tech/badge/deprl)](https://pepy.tech/project/deprl)
  [![Documentation Status](https://readthedocs.org/projects/deprl/badge/?version=latest)](https://deprl.readthedocs.io/en/latest/?badge=latest)
 
-Please read the [docs](https://deprl.readthedocs.io/en/latest/?badge=latest).
+### All our features are described in the [docs](https://deprl.readthedocs.io/en/latest/?badge=latest).
 
- This repo contains the code for the paper [DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systems](https://openreview.net/forum?id=C-xa_D3oTj6) paper, published at ICLR 2023 with perfect review scores (8, 8, 8, 10) and a notable-top-25% rating. See [here](https://sites.google.com/view/dep-rl) for videos.
+
+This repo contains the code for the paper [DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systems](https://openreview.net/forum?id=C-xa_D3oTj6) paper, published at ICLR 2023 with perfect review scores (8, 8, 8, 10) and a notable-top-25% rating. See [here](https://sites.google.com/view/dep-rl) for videos.
 
 The work was performed by Pierre Schumacher, Daniel F.B. Haeufle, Dieter Büchler, Syn Schmitt and Georg Martius.
 
@@ -21,7 +22,12 @@ If you just want to see the code for DEP, take a look at `deprl/dep_controller.p
 
 ### Big update!
 
-We now provide code for our newest preprint, [Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models](https://sites.google.com/view/naturalwalkingrl). With this work, we take a step towards _natural_ movement generation with RL. Take a look at the [docs](https://deprl.readthedocs.io/en/latest/?badge=latest) for more information.
+We now provide code for our newest preprint, [Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models](https://sites.google.com/view/naturalwalkingrl). With this work, we take a step towards _natural_ movement generation with RL. 
+This update provides code for adaptive energy costs in muscle-driven systems and provides support for the SCONE and Hyfydy softwares in the shape of the recently released [sconegym](https://github.com/tgeijten/sconegym/tree/main) environment suite.
+
+The new features also include pre-trained baselines from the preprint, enabling rendering from SCONE and much more. See the [docs](https://deprl.readthedocs.io/en/latest/?badge=latest) for more information.
+
+We encourage anyone encountering bugs or wanting help to open a GitHub issue or contact us directly. Let us help you make it work.
 
 ## Abstract
 Muscle-actuated organisms are capable of learning an unparalleled diversity of
@@ -52,8 +58,13 @@ and a bipedal ostrich. The OstrichRL environment can be installed from [here](ht
 
 We also collaborated with groups that provide musculoskeletal control environments and provide additional baselines as well as code from our latest preprints.
 
-### Hyfydy
-We include several pre-trained baselines and configuration files to train the policies from our newest [preprint](https://arxiv.org/abs/2309.02976). These allow you to train walking agents in [Hyfydy](hyfydy.com) with RL for natural walking and robust running tasks. We joined forces with Thomas Geijtenbeek [@tgeijten](https://github.com/tgeijten) to create a python environment interface for Hyfydy. Take a look at [sconegym](https://github.com/tgeijten/sconegym/tree/main)!
+### Hyfydy and sconegym
+We include several pre-trained baselines and configuration files to train the policies from our newest [preprint](https://arxiv.org/abs/2309.02976). These allow you to train walking agents in [Hyfydy](hyfydy.com) with RL for natural walking and robust running tasks. We worked together with Thomas Geijtenbeek [@tgeijten](https://github.com/tgeijten) to create a python environment interface for Hyfydy, called [sconegym](https://github.com/tgeijten/sconegym/tree/main)!
+This repository also includes the definitions of all the cost terms we used, see [here](https://github.com/tgeijten/sconegym/blob/main/sconegym/gaitgym.py).
+The configuration files to train our sconegym policies are included [here](https://github.com/martius-lab/depRL/tree/main/experiments/hyfydy). 
+
+
+Check out how to install sconegym from their [repo](https://github.com/tgeijten/sconegym/blob/main/sconegym/gaitgym.py), you can immediately start with a simple OpenSim model. To access the fast Hyfydy engine, and the complex 3D models, you need to request a trial license from the [Hyfydy](hyfydy.com) website or purchase a license. Some usage examples can be found [here](https://deprl.readthedocs.io/en/latest/hyfydy_baselines.html) and [here]()
 
 ### MyoLeg
 If you are coming here for the MyoLeg, take a look at this [tutorial](https://github.com/facebookresearch/myosuite/blob/main/docs/source/tutorials.rst#load-dep-rl-baseline). It will show you how to run the pre-trained baseline. We also explain how to train the walking agent in the MyoSuite  [documentation](https://myosuite.readthedocs.io/en/latest/baselines.html#dep-rl-baseline).
@@ -72,6 +83,7 @@ or render the pretrained baselines with:
 
 You have to find your own reward function, of course. These files also require the installation of `myosuite==2.1.5`.
 
+We will release a tutorial on how to implement all cost terms from our natural walking [preprint](https://sites.google.com/view/naturalwalkingrl) in the near future.
 
 
 ## Experiments

From 2ba76ff211b3de798955e0a0a24e0033ab7fb2e3 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Fri, 15 Dec 2023 14:24:40 -0600
Subject: [PATCH 04/31] docs update

---
 docs/source/hyfydy_baselines.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/source/hyfydy_baselines.rst b/docs/source/hyfydy_baselines.rst
index a65f4a5..ea5bc49 100644
--- a/docs/source/hyfydy_baselines.rst
+++ b/docs/source/hyfydy_baselines.rst
@@ -64,7 +64,7 @@ You can also use noisy policy steps with:
  import myosuite
  import deprl
 
- env = gym.make('sconewalk_h0918')
+ env = gym.make('sconewalk_h0918-v1')
  policy = deprl.load_baseline(env)
 
  for ep in range(5):

From 62f04b30904d3830a954d6a09e12e4086240225a Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Thu, 21 Dec 2023 16:01:56 +0100
Subject: [PATCH 05/31] added more example files for pure dep exploration

---
 deprl/dep_controller.py               |  2 +-
 examples/example_only_dep_myosuite.py | 25 ++++++++++++++
 examples/example_only_dep_scone.py    | 49 +++++++++++++++++++++++++++
 3 files changed, 75 insertions(+), 1 deletion(-)
 create mode 100644 examples/example_only_dep_myosuite.py
 create mode 100644 examples/example_only_dep_scone.py

diff --git a/deprl/dep_controller.py b/deprl/dep_controller.py
index 9161f31..1cc80f5 100644
--- a/deprl/dep_controller.py
+++ b/deprl/dep_controller.py
@@ -11,7 +11,7 @@
 class DEP:
     """
     DEP Implementation from Der et al.(2015).
-    Jax is used instead of numpy to speed up computation, GPU strongly
+    PyTorch is used instead of numpy to speed up computation, GPU strongly
     recommended.
     In the future, proper JAX features such as jit, vmap, etc
     should be used.
diff --git a/examples/example_only_dep_myosuite.py b/examples/example_only_dep_myosuite.py
new file mode 100644
index 0000000..ae69dce
--- /dev/null
+++ b/examples/example_only_dep_myosuite.py
@@ -0,0 +1,25 @@
+import gym
+import myosuite
+import time
+from deprl import env_wrappers
+from deprl.dep_controller import DEP
+
+
+
+env = gym.make('myoLegWalk-v0')
+env = env_wrappers.GymWrapper(env)
+
+# You can also use SconeWrapper for Wrapper
+# env = env_wrappers.SconeWrapper(env)
+dep = DEP()
+dep.initialize(env.observation_space, env.action_space)
+
+env.reset()
+for i in range(1000):
+    action = dep.step(env.muscle_lengths())[0,:]
+    print(action.shape)
+    next_state, reward, done, _ = env.step(action)
+    time.sleep(0.01)
+    env.mj_render()
+
+
diff --git a/examples/example_only_dep_scone.py b/examples/example_only_dep_scone.py
new file mode 100644
index 0000000..fa0a93a
--- /dev/null
+++ b/examples/example_only_dep_scone.py
@@ -0,0 +1,49 @@
+import gym
+import sconegym
+from deprl import env_wrappers
+from deprl.dep_controller import DEP
+
+
+# create the sconegym env
+env = gym.make('sconewalk_h2190-v1')
+
+# apply wrapper to environment
+env = env_wrappers.SconeWrapper(env)
+
+# create DEP, parameters are loaded from default path
+dep = DEP()
+
+# give DEP obs and action space to create right dimensions
+dep.initialize(env.observation_space, env.action_space)
+
+env.seed(0)
+
+for ep in range(5):
+    if ep % 1 == 0:
+        env.store_next_episode()  # Store results of every Nth episode
+
+    ep_steps = 0
+    ep_tot_reward = 0
+    state = env.reset()
+
+    while True:
+        # samples random action
+        action = dep.step(env.muscle_lengths())[0,:]
+        # applies action and advances environment by one step
+        state, reward, done, info = env.step(action)
+
+        ep_steps += 1
+        ep_tot_reward += reward
+
+        # check if done
+        if done or (ep_steps >= 1000):
+            print(
+                f"Episode {ep} ending; steps={ep_steps}; reward={ep_tot_reward:0.3f}; \
+                com={env.model.com_pos()}"
+            )
+            env.write_now()
+            env.reset()
+            break
+
+env.close()
+

From 2d35aee71a0a14a386e28f1078f518b5261c7d22 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Thu, 21 Dec 2023 16:05:06 +0100
Subject: [PATCH 06/31] precommit hooks

---
 README.md                             |  4 ++--
 examples/example_only_dep_myosuite.py | 19 +++++++------------
 examples/example_only_dep_scone.py    |  9 ++++-----
 3 files changed, 13 insertions(+), 19 deletions(-)

diff --git a/README.md b/README.md
index 32659c1..27f7595 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ If you just want to see the code for DEP, take a look at `deprl/dep_controller.p
 
 ### Big update!
 
-We now provide code for our newest preprint, [Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models](https://sites.google.com/view/naturalwalkingrl). With this work, we take a step towards _natural_ movement generation with RL. 
+We now provide code for our newest preprint, [Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models](https://sites.google.com/view/naturalwalkingrl). With this work, we take a step towards _natural_ movement generation with RL.
 This update provides code for adaptive energy costs in muscle-driven systems and provides support for the SCONE and Hyfydy softwares in the shape of the recently released [sconegym](https://github.com/tgeijten/sconegym/tree/main) environment suite.
 
 The new features also include pre-trained baselines from the preprint, enabling rendering from SCONE and much more. See the [docs](https://deprl.readthedocs.io/en/latest/?badge=latest) for more information.
@@ -61,7 +61,7 @@ We also collaborated with groups that provide musculoskeletal control environmen
 ### Hyfydy and sconegym
 We include several pre-trained baselines and configuration files to train the policies from our newest [preprint](https://arxiv.org/abs/2309.02976). These allow you to train walking agents in [Hyfydy](hyfydy.com) with RL for natural walking and robust running tasks. We worked together with Thomas Geijtenbeek [@tgeijten](https://github.com/tgeijten) to create a python environment interface for Hyfydy, called [sconegym](https://github.com/tgeijten/sconegym/tree/main)!
 This repository also includes the definitions of all the cost terms we used, see [here](https://github.com/tgeijten/sconegym/blob/main/sconegym/gaitgym.py).
-The configuration files to train our sconegym policies are included [here](https://github.com/martius-lab/depRL/tree/main/experiments/hyfydy). 
+The configuration files to train our sconegym policies are included [here](https://github.com/martius-lab/depRL/tree/main/experiments/hyfydy).
 
 
 Check out how to install sconegym from their [repo](https://github.com/tgeijten/sconegym/blob/main/sconegym/gaitgym.py), you can immediately start with a simple OpenSim model. To access the fast Hyfydy engine, and the complex 3D models, you need to request a trial license from the [Hyfydy](hyfydy.com) website or purchase a license. Some usage examples can be found [here](https://deprl.readthedocs.io/en/latest/hyfydy_baselines.html) and [here]()
diff --git a/examples/example_only_dep_myosuite.py b/examples/example_only_dep_myosuite.py
index ae69dce..73ea39e 100644
--- a/examples/example_only_dep_myosuite.py
+++ b/examples/example_only_dep_myosuite.py
@@ -1,25 +1,20 @@
-import gym
-import myosuite
 import time
-from deprl import env_wrappers
-from deprl.dep_controller import DEP
 
+import gym
+import myosuite  # noqa
 
+from deprl import env_wrappers
+from deprl.dep_controller import DEP
 
-env = gym.make('myoLegWalk-v0')
+env = gym.make("myoLegWalk-v0")
 env = env_wrappers.GymWrapper(env)
 
-# You can also use SconeWrapper for Wrapper
-# env = env_wrappers.SconeWrapper(env)
 dep = DEP()
 dep.initialize(env.observation_space, env.action_space)
 
 env.reset()
 for i in range(1000):
-    action = dep.step(env.muscle_lengths())[0,:]
-    print(action.shape)
+    action = dep.step(env.muscle_lengths())[0, :]
     next_state, reward, done, _ = env.step(action)
-    time.sleep(0.01)
+    time.sleep(0.005)
     env.mj_render()
-
-
diff --git a/examples/example_only_dep_scone.py b/examples/example_only_dep_scone.py
index fa0a93a..c65e877 100644
--- a/examples/example_only_dep_scone.py
+++ b/examples/example_only_dep_scone.py
@@ -1,11 +1,11 @@
 import gym
-import sconegym
+import sconegym  # noqa
+
 from deprl import env_wrappers
 from deprl.dep_controller import DEP
 
-
 # create the sconegym env
-env = gym.make('sconewalk_h2190-v1')
+env = gym.make("sconewalk_h2190-v1")
 
 # apply wrapper to environment
 env = env_wrappers.SconeWrapper(env)
@@ -28,7 +28,7 @@
 
     while True:
         # samples random action
-        action = dep.step(env.muscle_lengths())[0,:]
+        action = dep.step(env.muscle_lengths())[0, :]
         # applies action and advances environment by one step
         state, reward, done, info = env.step(action)
 
@@ -46,4 +46,3 @@
             break
 
 env.close()
-

From 98a3abfe764d80b71b368388fc9c138e73dfc32d Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Thu, 21 Dec 2023 17:32:52 +0100
Subject: [PATCH 07/31] docs update

---
 docs/source/hyfydy_baselines.rst | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/docs/source/hyfydy_baselines.rst b/docs/source/hyfydy_baselines.rst
index ea5bc49..6b78543 100644
--- a/docs/source/hyfydy_baselines.rst
+++ b/docs/source/hyfydy_baselines.rst
@@ -5,9 +5,10 @@ Hyfydy baselines
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 We include several pretrained baselines for Hyfydy. They are similar to the ones trained for our `preprint <https://arxiv.org/abs/2309.02976>`_.
-The baselines includes straight walking for `sconewalk-h0918-v1`, running for ...
+The baselines includes straight walking for `sconewalk_h0918-v1`, running for `sconerun_h0918-v1` and similar for the other models.
+There is also an example for OpenSim `sconewalk_h0918_osim-v1`
 
-To try the baselines, you need to first install `sconegym` and scone. A link with installation instructions will be added at a later date.
+To try the baselines, you need to first install `sconegym` and scone. See `here <https://github.com/tgeijten/sconegym>`_ for installation help.
 
 You can play with the pre-trained baselines by using the code in this section. To train agents yourself, go to the :ref:`config_files` section.
 
@@ -18,6 +19,8 @@ You can play with the pre-trained baselines by using the code in this section. T
 
    * - environment id
      - description
+   * - sconewalk_h0918_osim-v1
+     - Energy-efficient walking with the H0918 model in OpenSim (slow performance).
    * - sconewalk_h0918-v1
      - Energy-efficient walking with the H0918 model.
    * - sconewalk_h1622-v1
@@ -53,7 +56,7 @@ Usage example
              break
 
 
-For the other baselines, just use: `env = gym.make('sconewalk_h2190-v1')` or ...
+For the other baselines, just use: `env = gym.make('sconewalk_h2190-v1')` or `env = gym.make('sconerun_h2190-v1')`
 
 
 You can also use noisy policy steps with:
@@ -61,7 +64,7 @@ You can also use noisy policy steps with:
 .. code-block:: python
 
  import gym
- import myosuite
+ import sconegym
  import deprl
 
  env = gym.make('sconewalk_h0918-v1')

From 2683b0bbfe91083a1998914f16c39ce6f54d5f4c Mon Sep 17 00:00:00 2001
From: Ikko Eltociear Ashimine <eltociear@gmail.com>
Date: Thu, 21 Dec 2023 02:39:10 +0900
Subject: [PATCH 08/31] Update usage.rst

exlanations -> explanations
---
 docs/source/usage.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/source/usage.rst b/docs/source/usage.rst
index d2495cc..3125aa6 100644
--- a/docs/source/usage.rst
+++ b/docs/source/usage.rst
@@ -3,7 +3,7 @@ Usage
 
 .. _usage:
 
-deprl uses 4 basic commands, partially derived from TonicRL: main, play, log, plot. We refer to the TonicRL `README <https://github.com/fabiopardo/tonic>`_ for further exlanations on how to use them.
+deprl uses 4 basic commands, partially derived from TonicRL: main, play, log, plot. We refer to the TonicRL `README <https://github.com/fabiopardo/tonic>`_ for further explanations on how to use them.
 
 See below for brief explanations.
 

From e21b4c496964a14839c5e29ba50a482c0d00bb72 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Sat, 23 Dec 2023 10:24:51 +0100
Subject: [PATCH 09/31] allow loading of broken csv files by skipping lines
 with missing entries

---
 deprl/vendor/tonic/utils/csv_utils.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/deprl/vendor/tonic/utils/csv_utils.py b/deprl/vendor/tonic/utils/csv_utils.py
index dd50922..3138563 100644
--- a/deprl/vendor/tonic/utils/csv_utils.py
+++ b/deprl/vendor/tonic/utils/csv_utils.py
@@ -29,6 +29,6 @@ def load_csv_to_dict(csv_path):
     data = load_csv(csv_path)
     keys = data[0]
     data = data[1:]
-    data = [list(map(float, x)) for x in data if x[0] != "None"]
+    data = [list(map(float, x)) for x in data if x[0] != "None" and all(val != '' for val in x)]
     data = {k: [x[idx] for x in data] for idx, k in enumerate(keys)}
     return data

From 9e2e63a6f9eb47ea8514e79495e4be114da22e52 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pschumacher@tuebingen.mpg.de>
Date: Sat, 23 Dec 2023 10:53:31 +0100
Subject: [PATCH 10/31] made logging length check more flexible, don't assume
 train/episode_mean key anymore

---
 deprl/log.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/deprl/log.py b/deprl/log.py
index 0d2fdb0..9ab9b3b 100644
--- a/deprl/log.py
+++ b/deprl/log.py
@@ -17,7 +17,7 @@ def __init__(self, path):
         self._setup_wandb()
 
     def get_line_number(self, data):
-        return len(data["train/episode_score/mean"])
+        return len(data[[key for key in data.keys()][0]])
 
     def _setup_wandb(self):
         data = utils.load_csv_to_dict(self._path)

From c7cb022835bd00dc6c6e6951a6ba48c07fcbf0bc Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pier_schumacher@hotmail.com>
Date: Sat, 23 Dec 2023 12:39:41 +0100
Subject: [PATCH 11/31] Update README.md

---
 README.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/README.md b/README.md
index 27f7595..253d975 100644
--- a/README.md
+++ b/README.md
@@ -29,6 +29,12 @@ The new features also include pre-trained baselines from the preprint, enabling
 
 We encourage anyone encountering bugs or wanting help to open a GitHub issue or contact us directly. Let us help you make it work.
 
+<p align="center">
+<img src=https://github.com/martius-lab/depRL/assets/24903880/8d6392d2-542d-405b-afb8-e5c68726117e width=250>
+ <img src=https://github.com/martius-lab/depRL/assets/24903880/67384006-e72d-4e8f-ab2f-dbe504a19c1d width=250>
+</p>
+
+
 ## Abstract
 Muscle-actuated organisms are capable of learning an unparalleled diversity of
 dexterous movements despite their vast amount of muscles. Reinforcement learning (RL) on large musculoskeletal models, however, has not been able to show

From 555fa90a01bb36d65f53f21aa081ae9464f0aa3c Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pier_schumacher@hotmail.com>
Date: Sat, 23 Dec 2023 14:06:28 +0100
Subject: [PATCH 12/31] Update README.md

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 253d975..3811a8a 100644
--- a/README.md
+++ b/README.md
@@ -30,8 +30,8 @@ The new features also include pre-trained baselines from the preprint, enabling
 We encourage anyone encountering bugs or wanting help to open a GitHub issue or contact us directly. Let us help you make it work.
 
 <p align="center">
-<img src=https://github.com/martius-lab/depRL/assets/24903880/8d6392d2-542d-405b-afb8-e5c68726117e width=250>
- <img src=https://github.com/martius-lab/depRL/assets/24903880/67384006-e72d-4e8f-ab2f-dbe504a19c1d width=250>
+<img src=https://github.com/martius-lab/depRL/assets/24903880/8d6392d2-542d-405b-afb8-e5c68726117e width=300>
+ <img src=https://github.com/martius-lab/depRL/assets/24903880/67384006-e72d-4e8f-ab2f-dbe504a19c1d width=300>
 </p>
 
 

From b9c0657e8d5e492110c32f1d6150e47c8c93ffdc Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Wed, 13 Mar 2024 11:18:09 -0400
Subject: [PATCH 13/31] linting

---
 deprl/vendor/tonic/utils/csv_utils.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/deprl/vendor/tonic/utils/csv_utils.py b/deprl/vendor/tonic/utils/csv_utils.py
index 3138563..a29840b 100644
--- a/deprl/vendor/tonic/utils/csv_utils.py
+++ b/deprl/vendor/tonic/utils/csv_utils.py
@@ -29,6 +29,10 @@ def load_csv_to_dict(csv_path):
     data = load_csv(csv_path)
     keys = data[0]
     data = data[1:]
-    data = [list(map(float, x)) for x in data if x[0] != "None" and all(val != '' for val in x)]
+    data = [
+        list(map(float, x))
+        for x in data
+        if x[0] != "None" and all(val != "" for val in x)
+    ]
     data = {k: [x[idx] for x in data] for idx, k in enumerate(keys)}
     return data

From 2217d0e176609688fb711e3950544271783d3197 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Wed, 10 Jul 2024 18:40:31 -0400
Subject: [PATCH 14/31] fixed myosuite baseline example for gymnasium

---
 examples/example_load_baseline_myosuite.py |   12 +-
 poetry.lock                                | 1867 +++++++++++---------
 pyproject.toml                             |    2 +-
 requirements.txt                           |   63 +-
 4 files changed, 1079 insertions(+), 865 deletions(-)

diff --git a/examples/example_load_baseline_myosuite.py b/examples/example_load_baseline_myosuite.py
index 9ab85f8..92f3c66 100644
--- a/examples/example_load_baseline_myosuite.py
+++ b/examples/example_load_baseline_myosuite.py
@@ -3,26 +3,25 @@
 
 import time
 
-import gym
 import myosuite  # noqa
+from myosuite.utils import gym
 
 import deprl
 
-# create the sconegym env
-env = gym.make("myoChallengeChaseTagP1-v0")
+env = gym.make("myoLegWalk-v0", reset_type="random")
 policy = deprl.load_baseline(env)
 
 env.seed(0)
 for ep in range(10):
     ep_steps = 0
     ep_tot_reward = 0
-    state = env.reset()
+    state, _ = env.reset()
 
     while True:
         # samples random action
         action = policy(state)
         # applies action and advances environment by one step
-        state, reward, done, info = env.step(action)
+        state, reward, terminated, truncated, info = env.step(action)
 
         ep_steps += 1
         ep_tot_reward += reward
@@ -30,11 +29,10 @@
         time.sleep(0.01)
 
         # check if done
+        done = terminated or truncated
         if done or (ep_steps >= 1000):
             print(
                 f"Episode {ep} ending; steps={ep_steps}; reward={ep_tot_reward:0.3f};"
             )
             env.reset()
             break
-
-env.close()
diff --git a/poetry.lock b/poetry.lock
index aacbe0a..5a9b25e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2,24 +2,24 @@
 
 [[package]]
 name = "absl-py"
-version = "2.0.0"
+version = "2.1.0"
 description = "Abseil Python Common Libraries, see https://github.com/abseil/abseil-py."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "absl-py-2.0.0.tar.gz", hash = "sha256:d9690211c5fcfefcdd1a45470ac2b5c5acd45241c3af71eed96bc5441746c0d5"},
-    {file = "absl_py-2.0.0-py3-none-any.whl", hash = "sha256:9a28abb62774ae4e8edbe2dd4c49ffcd45a6a848952a5eccc6a49f3f0fc1e2f3"},
+    {file = "absl-py-2.1.0.tar.gz", hash = "sha256:7820790efbb316739cde8b4e19357243fc3608a152024288513dd968d7d959ff"},
+    {file = "absl_py-2.1.0-py3-none-any.whl", hash = "sha256:526a04eadab8b4ee719ce68f204172ead1027549089702d99b9059f129ff1308"},
 ]
 
 [[package]]
 name = "alabaster"
-version = "0.7.13"
-description = "A configurable sidebar-enabled Sphinx theme"
+version = "0.7.16"
+description = "A light, configurable Sphinx theme"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.9"
 files = [
-    {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"},
-    {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
+    {file = "alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92"},
+    {file = "alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65"},
 ]
 
 [[package]]
@@ -35,13 +35,13 @@ files = [
 
 [[package]]
 name = "babel"
-version = "2.14.0"
+version = "2.15.0"
 description = "Internationalization utilities"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "Babel-2.14.0-py3-none-any.whl", hash = "sha256:efb1a25b7118e67ce3a259bed20545c29cb68be8ad2c784c83689981b7a57287"},
-    {file = "Babel-2.14.0.tar.gz", hash = "sha256:6919867db036398ba21eb5c7a0f6b28ab8cbc3ae7a73a44ebe34ae74a4e7d363"},
+    {file = "Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb"},
+    {file = "babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413"},
 ]
 
 [package.extras]
@@ -49,31 +49,34 @@ dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
 
 [[package]]
 name = "beautifulsoup4"
-version = "4.12.2"
+version = "4.12.3"
 description = "Screen-scraping library"
 optional = false
 python-versions = ">=3.6.0"
 files = [
-    {file = "beautifulsoup4-4.12.2-py3-none-any.whl", hash = "sha256:bd2520ca0d9d7d12694a53d44ac482d181b4ec1888909b035a3dbf40d0f57d4a"},
-    {file = "beautifulsoup4-4.12.2.tar.gz", hash = "sha256:492bbc69dca35d12daac71c4db1bfff0c876c00ef4a2ffacce226d4638eb72da"},
+    {file = "beautifulsoup4-4.12.3-py3-none-any.whl", hash = "sha256:b80878c9f40111313e55da8ba20bdba06d8fa3969fc68304167741bbf9e082ed"},
+    {file = "beautifulsoup4-4.12.3.tar.gz", hash = "sha256:74e3d1928edc070d21748185c46e3fb33490f22f52a3addee9aee0f4f7781051"},
 ]
 
 [package.dependencies]
 soupsieve = ">1.2"
 
 [package.extras]
+cchardet = ["cchardet"]
+chardet = ["chardet"]
+charset-normalizer = ["charset-normalizer"]
 html5lib = ["html5lib"]
 lxml = ["lxml"]
 
 [[package]]
 name = "certifi"
-version = "2023.11.17"
+version = "2024.7.4"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "certifi-2023.11.17-py3-none-any.whl", hash = "sha256:e036ab49d5b79556f99cfc2d9320b34cfbe5be05c5871b51de9329f0603b0474"},
-    {file = "certifi-2023.11.17.tar.gz", hash = "sha256:9b469f3a900bf28dc19b8cfbf8019bf47f7fdd1a65a1d4ffb98fc14166beb4d1"},
+    {file = "certifi-2024.7.4-py3-none-any.whl", hash = "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90"},
+    {file = "certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b"},
 ]
 
 [[package]]
@@ -224,64 +227,64 @@ files = [
 
 [[package]]
 name = "contourpy"
-version = "1.2.0"
+version = "1.2.1"
 description = "Python library for calculating contours of 2D quadrilateral grids"
 optional = false
 python-versions = ">=3.9"
 files = [
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-    {file = "contourpy-1.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ab459a1cbbf18e8698399c595a01f6dcc5c138220ca3ea9e7e6126232d102bb4"},
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+    {file = "contourpy-1.2.1.tar.gz", hash = "sha256:4d8908b3bee1c889e547867ca4cdc54e5ab6be6d3e078556814a22457f49423c"},
 ]
 
 [package.dependencies]
-numpy = ">=1.20,<2.0"
+numpy = ">=1.20"
 
 [package.extras]
 bokeh = ["bokeh", "selenium"]
 docs = ["furo", "sphinx (>=7.2)", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.6.1)", "types-Pillow"]
+mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.8.0)", "types-Pillow"]
 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
 test-no-images = ["pytest", "pytest-cov", "pytest-xdist", "wurlitzer"]
 
@@ -313,13 +316,13 @@ files = [
 
 [[package]]
 name = "dm-control"
-version = "1.0.14"
+version = "1.0.16"
 description = "Continuous control environments and MuJoCo Python bindings."
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "dm_control-1.0.16.tar.gz", hash = "sha256:bbdd6dc54b4dbc33eef6c43294edb0a927c3a5f35621e698480f88f55f48a1fd"},
 ]
 
 [package.dependencies]
@@ -329,7 +332,7 @@ dm-tree = "!=0.1.2"
 glfw = "*"
 labmaze = "*"
 lxml = "*"
-mujoco = ">=2.3.7"
+mujoco = ">=3.1.1"
 numpy = ">=1.9.0"
 protobuf = ">=3.19.4"
 pyopengl = ">=3.1.4"
@@ -382,6 +385,13 @@ files = [
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@@ -431,34 +441,82 @@ files = [
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 ]
 
+[[package]]
+name = "etils"
+version = "1.5.2"
+description = "Collection of common python utils"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "etils-1.5.2-py3-none-any.whl", hash = "sha256:6dc882d355e1e98a5d1a148d6323679dc47c9a5792939b9de72615aa4737eb0b"},
+    {file = "etils-1.5.2.tar.gz", hash = "sha256:ba6a3e1aff95c769130776aa176c11540637f5dd881f3b79172a5149b6b1c446"},
+]
+
+[package.dependencies]
+fsspec = {version = "*", optional = true, markers = "extra == \"epath\""}
+importlib_resources = {version = "*", optional = true, markers = "extra == \"epath\""}
+typing_extensions = {version = "*", optional = true, markers = "extra == \"epy\""}
+zipp = {version = "*", optional = true, markers = "extra == \"epath\""}
+
+[package.extras]
+all = ["etils[array-types]", "etils[eapp]", "etils[ecolab]", "etils[edc]", "etils[enp]", "etils[epath-gcs]", "etils[epath-s3]", "etils[epath]", "etils[epy]", "etils[etqdm]", "etils[etree-dm]", "etils[etree-jax]", "etils[etree-tf]", "etils[etree]"]
+array-types = ["etils[enp]"]
+dev = ["chex", "dataclass_array", "optree", "pyink", "pylint (>=2.6.0)", "pytest", "pytest-subtests", "pytest-xdist", "torch"]
+docs = ["etils[all,dev]", "sphinx-apitree[ext]"]
+eapp = ["absl-py", "etils[epy]", "simple_parsing"]
+ecolab = ["etils[enp]", "etils[epy]", "jupyter", "mediapy", "numpy", "packaging"]
+edc = ["etils[epy]"]
+enp = ["etils[epy]", "numpy"]
+epath = ["etils[epy]", "fsspec", "importlib_resources", "typing_extensions", "zipp"]
+epath-gcs = ["etils[epath]", "gcsfs"]
+epath-s3 = ["etils[epath]", "s3fs"]
+epy = ["typing_extensions"]
+etqdm = ["absl-py", "etils[epy]", "tqdm"]
+etree = ["etils[array-types]", "etils[enp]", "etils[epy]", "etils[etqdm]"]
+etree-dm = ["dm-tree", "etils[etree]"]
+etree-jax = ["etils[etree]", "jax[cpu]"]
+etree-tf = ["etils[etree]", "tensorflow"]
+lazy-imports = ["etils[ecolab]"]
+
 [[package]]
 name = "exceptiongroup"
-version = "1.2.0"
+version = "1.2.1"
 description = "Backport of PEP 654 (exception groups)"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "exceptiongroup-1.2.0-py3-none-any.whl", hash = "sha256:4bfd3996ac73b41e9b9628b04e079f193850720ea5945fc96a08633c66912f14"},
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+    {file = "exceptiongroup-1.2.1-py3-none-any.whl", hash = "sha256:5258b9ed329c5bbdd31a309f53cbfb0b155341807f6ff7606a1e801a891b29ad"},
+    {file = "exceptiongroup-1.2.1.tar.gz", hash = "sha256:a4785e48b045528f5bfe627b6ad554ff32def154f42372786903b7abcfe1aa16"},
 ]
 
 [package.extras]
 test = ["pytest (>=6)"]
 
+[[package]]
+name = "farama-notifications"
+version = "0.0.4"
+description = "Notifications for all Farama Foundation maintained libraries."
+optional = false
+python-versions = "*"
+files = [
+    {file = "Farama-Notifications-0.0.4.tar.gz", hash = "sha256:13fceff2d14314cf80703c8266462ebf3733c7d165336eee998fc58e545efd18"},
+    {file = "Farama_Notifications-0.0.4-py3-none-any.whl", hash = "sha256:14de931035a41961f7c056361dc7f980762a143d05791ef5794a751a2caf05ae"},
+]
+
 [[package]]
 name = "filelock"
-version = "3.13.1"
+version = "3.15.4"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "filelock-3.13.1-py3-none-any.whl", hash = "sha256:57dbda9b35157b05fb3e58ee91448612eb674172fab98ee235ccb0b5bee19a1c"},
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+    {file = "filelock-3.15.4-py3-none-any.whl", hash = "sha256:6ca1fffae96225dab4c6eaf1c4f4f28cd2568d3ec2a44e15a08520504de468e7"},
+    {file = "filelock-3.15.4.tar.gz", hash = "sha256:2207938cbc1844345cb01a5a95524dae30f0ce089eba5b00378295a17e3e90cb"},
 ]
 
 [package.extras]
-docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.24)"]
-testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)"]
+docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
+testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)", "virtualenv (>=20.26.2)"]
 typing = ["typing-extensions (>=4.8)"]
 
 [[package]]
@@ -477,60 +535,60 @@ six = ">=1.12,<2.0"
 
 [[package]]
 name = "fonttools"
-version = "4.46.0"
+version = "4.53.1"
 description = "Tools to manipulate font files"
 optional = false
 python-versions = ">=3.8"
 files = [
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 graphite = ["lz4 (>=1.7.4.2)"]
-interpolatable = ["munkres", "scipy"]
-lxml = ["lxml (>=4.0,<5)"]
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 pathops = ["skia-pathops (>=0.5.0)"]
 plot = ["matplotlib"]
 repacker = ["uharfbuzz (>=0.23.0)"]
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 [[package]]
 name = "fsspec"
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+version = "2024.6.1"
 description = "File-system specification"
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 python-versions = ">=3.8"
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 adl = ["adlfs"]
 arrow = ["pyarrow (>=1)"]
 dask = ["dask", "distributed"]
-devel = ["pytest", "pytest-cov"]
+dev = ["pre-commit", "ruff"]
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@@ -566,33 +625,38 @@ github = ["requests"]
 gs = ["gcsfs"]
 gui = ["panel"]
 hdfs = ["pyarrow (>=1)"]
-http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "requests"]
+http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)"]
 libarchive = ["libarchive-c"]
 oci = ["ocifs"]
 s3 = ["s3fs"]
 sftp = ["paramiko"]
 smb = ["smbprotocol"]
 ssh = ["paramiko"]
+test = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "numpy", "pytest", "pytest-asyncio (!=0.22.0)", "pytest-benchmark", "pytest-cov", "pytest-mock", "pytest-recording", "pytest-rerunfailures", "requests"]
+test-downstream = ["aiobotocore (>=2.5.4,<3.0.0)", "dask-expr", "dask[dataframe,test]", "moto[server] (>4,<5)", "pytest-timeout", "xarray"]
+test-full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "cloudpickle", "dask", "distributed", "dropbox", "dropboxdrivefs", "fastparquet", "fusepy", "gcsfs", "jinja2", "kerchunk", "libarchive-c", "lz4", "notebook", "numpy", "ocifs", "pandas", "panel", "paramiko", "pyarrow", "pyarrow (>=1)", "pyftpdlib", "pygit2", "pytest", "pytest-asyncio (!=0.22.0)", "pytest-benchmark", "pytest-cov", "pytest-mock", "pytest-recording", "pytest-rerunfailures", "python-snappy", "requests", "smbprotocol", "tqdm", "urllib3", "zarr", "zstandard"]
 tqdm = ["tqdm"]
 
 [[package]]
 name = "gdown"
-version = "4.7.1"
-description = "Google Drive direct download of big files."
+version = "5.2.0"
+description = "Google Drive Public File/Folder Downloader"
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
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-    {file = "gdown-4.7.1.tar.gz", hash = "sha256:347f23769679aaf7efa73e5655270fcda8ca56be65eb84a4a21d143989541045"},
+    {file = "gdown-5.2.0-py3-none-any.whl", hash = "sha256:33083832d82b1101bdd0e9df3edd0fbc0e1c5f14c9d8c38d2a35bf1683b526d6"},
+    {file = "gdown-5.2.0.tar.gz", hash = "sha256:2145165062d85520a3cd98b356c9ed522c5e7984d408535409fd46f94defc787"},
 ]
 
 [package.dependencies]
 beautifulsoup4 = "*"
 filelock = "*"
 requests = {version = "*", extras = ["socks"]}
-six = "*"
 tqdm = "*"
 
+[package.extras]
+test = ["build", "mypy", "pytest", "pytest-xdist", "ruff", "twine", "types-requests", "types-setuptools"]
+
 [[package]]
 name = "gitdb"
 version = "4.0.11"
@@ -609,37 +673,38 @@ smmap = ">=3.0.1,<6"
 
 [[package]]
 name = "gitpython"
-version = "3.1.40"
+version = "3.1.43"
 description = "GitPython is a Python library used to interact with Git repositories"
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "GitPython-3.1.40.tar.gz", hash = "sha256:22b126e9ffb671fdd0c129796343a02bf67bf2994b35449ffc9321aa755e18a4"},
+    {file = "GitPython-3.1.43-py3-none-any.whl", hash = "sha256:eec7ec56b92aad751f9912a73404bc02ba212a23adb2c7098ee668417051a1ff"},
+    {file = "GitPython-3.1.43.tar.gz", hash = "sha256:35f314a9f878467f5453cc1fee295c3e18e52f1b99f10f6cf5b1682e968a9e7c"},
 ]
 
 [package.dependencies]
 gitdb = ">=4.0.1,<5"
 
 [package.extras]
-test = ["black", "coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre-commit", "pytest", "pytest-cov", "pytest-instafail", "pytest-subtests", "pytest-sugar"]
+doc = ["sphinx (==4.3.2)", "sphinx-autodoc-typehints", "sphinx-rtd-theme", "sphinxcontrib-applehelp (>=1.0.2,<=1.0.4)", "sphinxcontrib-devhelp (==1.0.2)", "sphinxcontrib-htmlhelp (>=2.0.0,<=2.0.1)", "sphinxcontrib-qthelp (==1.0.3)", "sphinxcontrib-serializinghtml (==1.1.5)"]
+test = ["coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre-commit", "pytest (>=7.3.1)", "pytest-cov", "pytest-instafail", "pytest-mock", "pytest-sugar", "typing-extensions"]
 
 [[package]]
 name = "glfw"
-version = "2.6.3"
+version = "2.7.0"
 description = "A ctypes-based wrapper for GLFW3."
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.extras]
@@ -669,38 +734,65 @@ box2d = ["box2d-py (>=2.3.5,<2.4.0)"]
 mujoco = ["imageio", "mujoco_py (>=1.50,<2.1)"]
 robotics = ["imageio", "mujoco_py (>=1.50,<2.1)"]
 
+[[package]]
+name = "gymnasium"
+version = "0.29.1"
+description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
+optional = false
+python-versions = ">=3.8"
+files = [
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+    {file = "gymnasium-0.29.1.tar.gz", hash = "sha256:1a532752efcb7590478b1cc7aa04f608eb7a2fdad5570cd217b66b6a35274bb1"},
+]
+
+[package.dependencies]
+cloudpickle = ">=1.2.0"
+farama-notifications = ">=0.0.1"
+importlib-metadata = {version = ">=4.8.0", markers = "python_version < \"3.10\""}
+numpy = ">=1.21.0"
+typing-extensions = ">=4.3.0"
+
+[package.extras]
+accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
+all = ["box2d-py (==2.3.5)", "cython (<3)", "imageio (>=2.14.1)", "jax (>=0.4.0)", "jaxlib (>=0.4.0)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (>=2.3.3)", "mujoco-py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (>=2.1.3)", "shimmy[atari] (>=0.1.0,<1.0)", "swig (==4.*)", "torch (>=1.0.0)"]
+atari = ["shimmy[atari] (>=0.1.0,<1.0)"]
+box2d = ["box2d-py (==2.3.5)", "pygame (>=2.1.3)", "swig (==4.*)"]
+classic-control = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
+jax = ["jax (>=0.4.0)", "jaxlib (>=0.4.0)"]
+mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.3.3)"]
+mujoco-py = ["cython (<3)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "mujoco-py (>=2.1,<2.2)"]
+other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)", "torch (>=1.0.0)"]
+testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"]
+toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
+
 [[package]]
 name = "h5py"
-version = "3.10.0"
+version = "3.11.0"
 description = "Read and write HDF5 files from Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "h5py-3.11.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:67462d0669f8f5459529de179f7771bd697389fcb3faab54d63bf788599a48ea"},
+    {file = "h5py-3.11.0-cp39-cp39-win_amd64.whl", hash = "sha256:d9c944d364688f827dc889cf83f1fca311caf4fa50b19f009d1f2b525edd33a3"},
+    {file = "h5py-3.11.0.tar.gz", hash = "sha256:7b7e8f78072a2edec87c9836f25f34203fd492a4475709a18b417a33cfb21fa9"},
 ]
 
 [package.dependencies]
@@ -708,13 +800,13 @@ numpy = ">=1.17.3"
 
 [[package]]
 name = "identify"
-version = "2.5.33"
+version = "2.6.0"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "identify-2.5.33-py2.py3-none-any.whl", hash = "sha256:d40ce5fcd762817627670da8a7d8d8e65f24342d14539c59488dc603bf662e34"},
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+    {file = "identify-2.6.0-py2.py3-none-any.whl", hash = "sha256:e79ae4406387a9d300332b5fd366d8994f1525e8414984e1a59e058b2eda2dd0"},
+    {file = "identify-2.6.0.tar.gz", hash = "sha256:cb171c685bdc31bcc4c1734698736a7d5b6c8bf2e0c15117f4d469c8640ae5cf"},
 ]
 
 [package.extras]
@@ -722,13 +814,13 @@ license = ["ukkonen"]
 
 [[package]]
 name = "idna"
-version = "3.6"
+version = "3.7"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
 python-versions = ">=3.5"
 files = [
-    {file = "idna-3.6-py3-none-any.whl", hash = "sha256:c05567e9c24a6b9faaa835c4821bad0590fbb9d5779e7caa6e1cc4978e7eb24f"},
-    {file = "idna-3.6.tar.gz", hash = "sha256:9ecdbbd083b06798ae1e86adcbfe8ab1479cf864e4ee30fe4e46a003d12491ca"},
+    {file = "idna-3.7-py3-none-any.whl", hash = "sha256:82fee1fc78add43492d3a1898bfa6d8a904cc97d8427f683ed8e798d07761aa0"},
+    {file = "idna-3.7.tar.gz", hash = "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc"},
 ]
 
 [[package]]
@@ -744,32 +836,32 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "7.0.0"
+version = "8.0.0"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "importlib_metadata-8.0.0-py3-none-any.whl", hash = "sha256:15584cf2b1bf449d98ff8a6ff1abef57bf20f3ac6454f431736cd3e660921b2f"},
+    {file = "importlib_metadata-8.0.0.tar.gz", hash = "sha256:188bd24e4c346d3f0a933f275c2fec67050326a856b9a359881d7c2a697e8812"},
 ]
 
 [package.dependencies]
 zipp = ">=0.5"
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 perf = ["ipython"]
-testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)", "pytest-ruff"]
+test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
 
 [[package]]
 name = "importlib-resources"
-version = "6.1.1"
+version = "6.4.0"
 description = "Read resources from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "importlib_resources-6.4.0-py3-none-any.whl", hash = "sha256:50d10f043df931902d4194ea07ec57960f66a80449ff867bfe782b4c486ba78c"},
+    {file = "importlib_resources-6.4.0.tar.gz", hash = "sha256:cdb2b453b8046ca4e3798eb1d84f3cce1446a0e8e7b5ef4efb600f19fc398145"},
 ]
 
 [package.dependencies]
@@ -777,7 +869,7 @@ zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff", "zipp (>=3.17)"]
+testing = ["jaraco.test (>=5.4)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)", "zipp (>=3.17)"]
 
 [[package]]
 name = "iniconfig"
@@ -790,6 +882,20 @@ files = [
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 ]
 
+[[package]]
+name = "intel-openmp"
+version = "2021.4.0"
+description = "Intel OpenMP* Runtime Library"
+optional = false
+python-versions = "*"
+files = [
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+    {file = "intel_openmp-2021.4.0-py2.py3-none-manylinux1_i686.whl", hash = "sha256:3b921236a38384e2016f0f3d65af6732cf2c12918087128a9163225451e776f2"},
+    {file = "intel_openmp-2021.4.0-py2.py3-none-manylinux1_x86_64.whl", hash = "sha256:e2240ab8d01472fed04f3544a878cda5da16c26232b7ea1b59132dbfb48b186e"},
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+]
+
 [[package]]
 name = "jedi"
 version = "0.19.1"
@@ -811,13 +917,13 @@ testing = ["Django", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
 
 [[package]]
 name = "jinja2"
-version = "3.1.2"
+version = "3.1.4"
 description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -956,6 +1062,11 @@ files = [
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@@ -980,205 +1091,267 @@ setuptools = "!=50.0.0"
 
 [[package]]
 name = "lxml"
-version = "4.9.3"
+version = "5.2.2"
 description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*"
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 ]
 
 [package.dependencies]
@@ -1187,12 +1360,33 @@ cycler = ">=0.10"
 fonttools = ">=4.22.0"
 importlib-resources = {version = ">=3.2.0", markers = "python_version < \"3.10\""}
 kiwisolver = ">=1.3.1"
-numpy = ">=1.21,<2"
+numpy = ">=1.23"
 packaging = ">=20.0"
 pillow = ">=8"
 pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
 
+[package.extras]
+dev = ["meson-python (>=0.13.1)", "numpy (>=1.25)", "pybind11 (>=2.6)", "setuptools (>=64)", "setuptools_scm (>=7)"]
+
+[[package]]
+name = "mkl"
+version = "2021.4.0"
+description = "Intel® oneAPI Math Kernel Library"
+optional = false
+python-versions = "*"
+files = [
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+]
+
+[package.dependencies]
+intel-openmp = "==2021.*"
+tbb = "==2021.*"
+
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -1212,59 +1406,67 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "mujoco"
-version = "2.3.7"
+version = "3.1.2"
 description = "MuJoCo Physics Simulator"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
 absl-py = "*"
+etils = {version = "*", extras = ["epath"]}
 glfw = "*"
 numpy = "*"
 pyopengl = "*"
 
 [[package]]
 name = "myosuite"
-version = "2.1.5"
+version = "2.4.0"
 description = "Musculoskeletal environments simulated in MuJoCo"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
 click = "*"
-dm-control = "1.0.14"
+dm-control = "1.0.16"
 flatten-dict = "*"
-gym = "0.13"
+gitpython = "*"
+gymnasium = "0.29.1"
 h5py = "*"
-mujoco = "2.3.7"
+mujoco = "3.1.2"
 numpy = "*"
+packaging = "*"
 Pillow = "*"
 pink-noise-rl = "*"
 sk-video = "*"
@@ -1290,61 +1492,58 @@ test = ["pytest (>=7.2)", "pytest-cov (>=4.0)"]
 
 [[package]]
 name = "nodeenv"
-version = "1.8.0"
+version = "1.9.1"
 description = "Node.js virtual environment builder"
 optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
 files = [
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 ]
 
-[package.dependencies]
-setuptools = "*"
-
 [[package]]
 name = "numpy"
-version = "1.26.2"
+version = "1.26.4"
 description = "Fundamental package for array computing in Python"
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.extras]
-docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-removed-in", "sphinxext-opengraph"]
+docs = ["furo", "olefile", "sphinx (>=7.3)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinxext-opengraph"]
+fpx = ["olefile"]
+mic = ["olefile"]
 tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+typing = ["typing-extensions"]
+xmp = ["defusedxml"]
 
 [[package]]
 name = "pink-noise-rl"
@@ -1674,28 +1909,29 @@ numpy = "*"
 
 [[package]]
 name = "platformdirs"
-version = "4.1.0"
-description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+version = "4.2.2"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
 files = [
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-test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4)", "pytest-cov (>=4.1)", "pytest-mock (>=3.11.1)"]
+docs = ["furo (>=2023.9.10)", "proselint (>=0.13)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
+type = ["mypy (>=1.8)"]
 
 [[package]]
 name = "pluggy"
-version = "1.3.0"
+version = "1.5.0"
 description = "plugin and hook calling mechanisms for python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -1704,13 +1940,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "pre-commit"
-version = "3.6.0"
+version = "3.7.1"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.dependencies]
@@ -1722,47 +1958,48 @@ virtualenv = ">=20.10.0"
 
 [[package]]
 name = "protobuf"
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+version = "4.25.3"
 description = ""
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 python-versions = ">=3.8"
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 description = "Cross-platform lib for process and system monitoring in Python."
 optional = false
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 ]
 
 [package.extras]
@@ -1770,19 +2007,19 @@ test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
 [[package]]
 name = "pudb"
-version = "2023.1"
+version = "2024.1"
 description = "A full-screen, console-based Python debugger"
 optional = false
 python-versions = "~=3.8"
 files = [
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 ]
 
 [package.dependencies]
 jedi = ">=0.18,<1"
 packaging = ">=20.0"
 pygments = ">=2.7.4"
-urwid = ">=1.1.1"
+urwid = ">=2.4"
 urwid_readline = "*"
 
 [package.extras]
@@ -1790,28 +2027,27 @@ completion = ["shtab"]
 
 [[package]]
 name = "pyglet"
-version = "2.0.10"
-description = "Cross-platform windowing and multimedia library"
+version = "2.0.15"
+description = "pyglet is a cross-platform games and multimedia package."
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [[package]]
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 [[package]]
@@ -1827,13 +2063,13 @@ files = [
 
 [[package]]
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-version = "3.1.1"
+version = "3.1.2"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
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 python-versions = ">=3.6.8"
 files = [
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@@ -1853,13 +2089,13 @@ files = [
 
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+version = "7.4.4"
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 python-versions = ">=3.7"
 files = [
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@@ -1875,13 +2111,13 @@ testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "no
 
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+version = "2.9.0.post0"
 description = "Extensions to the standard Python datetime module"
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 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
 files = [
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@@ -1889,13 +2125,13 @@ six = ">=1.5"
 
 [[package]]
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-version = "2023.3.post1"
+version = "2024.1"
 description = "World timezone definitions, modern and historical"
 optional = false
 python-versions = "*"
 files = [
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 [package.dependencies]
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 [package.extras]
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-
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-optional = false
-python-versions = "^3.8"
-files = []
-develop = true
-
-[package.dependencies]
-numpy = "*"
-torch = "*"
-
-[package.source]
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-url = "../sconegym"
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 [[package]]
 name = "sentry-sdk"
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 description = "Python client for Sentry (https://sentry.io)"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 files = [
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+    {file = "sentry_sdk-2.9.0-py2.py3-none-any.whl", hash = "sha256:0bea5fa8b564cc0d09f2e6f55893e8f70286048b0ffb3a341d5b695d1af0e6ee"},
+    {file = "sentry_sdk-2.9.0.tar.gz", hash = "sha256:4c85bad74df9767976afb3eeddc33e0e153300e887d637775a753a35ef99bee6"},
 ]
 
 [package.dependencies]
 certifi = "*"
-urllib3 = {version = ">=1.26.11", markers = "python_version >= \"3.6\""}
+urllib3 = ">=1.26.11"
 
 [package.extras]
 aiohttp = ["aiohttp (>=3.5)"]
+anthropic = ["anthropic (>=0.16)"]
 arq = ["arq (>=0.23)"]
 asyncpg = ["asyncpg (>=0.23)"]
 beam = ["apache-beam (>=2.12)"]
 bottle = ["bottle (>=0.12.13)"]
 celery = ["celery (>=3)"]
+celery-redbeat = ["celery-redbeat (>=2)"]
 chalice = ["chalice (>=1.16.0)"]
 clickhouse-driver = ["clickhouse-driver (>=0.2.0)"]
 django = ["django (>=1.8)"]
 falcon = ["falcon (>=1.4)"]
 fastapi = ["fastapi (>=0.79.0)"]
 flask = ["blinker (>=1.1)", "flask (>=0.11)", "markupsafe"]
-grpcio = ["grpcio (>=1.21.1)"]
+grpcio = ["grpcio (>=1.21.1)", "protobuf (>=3.8.0)"]
 httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
+huggingface-hub = ["huggingface-hub (>=0.22)"]
+langchain = ["langchain (>=0.0.210)"]
 loguru = ["loguru (>=0.5)"]
+openai = ["openai (>=1.0.0)", "tiktoken (>=0.3.0)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
-opentelemetry-experimental = ["opentelemetry-distro (>=0.40b0,<1.0)", "opentelemetry-instrumentation-aiohttp-client (>=0.40b0,<1.0)", "opentelemetry-instrumentation-django (>=0.40b0,<1.0)", "opentelemetry-instrumentation-fastapi (>=0.40b0,<1.0)", "opentelemetry-instrumentation-flask (>=0.40b0,<1.0)", "opentelemetry-instrumentation-requests (>=0.40b0,<1.0)", "opentelemetry-instrumentation-sqlite3 (>=0.40b0,<1.0)", "opentelemetry-instrumentation-urllib (>=0.40b0,<1.0)"]
-pure-eval = ["asttokens", "executing", "pure_eval"]
+opentelemetry-experimental = ["opentelemetry-instrumentation-aio-pika (==0.46b0)", "opentelemetry-instrumentation-aiohttp-client (==0.46b0)", "opentelemetry-instrumentation-aiopg (==0.46b0)", "opentelemetry-instrumentation-asgi (==0.46b0)", "opentelemetry-instrumentation-asyncio (==0.46b0)", "opentelemetry-instrumentation-asyncpg (==0.46b0)", "opentelemetry-instrumentation-aws-lambda (==0.46b0)", "opentelemetry-instrumentation-boto (==0.46b0)", "opentelemetry-instrumentation-boto3sqs (==0.46b0)", "opentelemetry-instrumentation-botocore (==0.46b0)", "opentelemetry-instrumentation-cassandra (==0.46b0)", "opentelemetry-instrumentation-celery (==0.46b0)", "opentelemetry-instrumentation-confluent-kafka (==0.46b0)", "opentelemetry-instrumentation-dbapi (==0.46b0)", "opentelemetry-instrumentation-django (==0.46b0)", "opentelemetry-instrumentation-elasticsearch (==0.46b0)", "opentelemetry-instrumentation-falcon (==0.46b0)", "opentelemetry-instrumentation-fastapi (==0.46b0)", "opentelemetry-instrumentation-flask (==0.46b0)", "opentelemetry-instrumentation-grpc (==0.46b0)", "opentelemetry-instrumentation-httpx (==0.46b0)", "opentelemetry-instrumentation-jinja2 (==0.46b0)", "opentelemetry-instrumentation-kafka-python (==0.46b0)", "opentelemetry-instrumentation-logging (==0.46b0)", "opentelemetry-instrumentation-mysql (==0.46b0)", "opentelemetry-instrumentation-mysqlclient (==0.46b0)", "opentelemetry-instrumentation-pika (==0.46b0)", "opentelemetry-instrumentation-psycopg (==0.46b0)", "opentelemetry-instrumentation-psycopg2 (==0.46b0)", "opentelemetry-instrumentation-pymemcache (==0.46b0)", "opentelemetry-instrumentation-pymongo (==0.46b0)", "opentelemetry-instrumentation-pymysql (==0.46b0)", "opentelemetry-instrumentation-pyramid (==0.46b0)", "opentelemetry-instrumentation-redis (==0.46b0)", "opentelemetry-instrumentation-remoulade (==0.46b0)", "opentelemetry-instrumentation-requests (==0.46b0)", "opentelemetry-instrumentation-sklearn (==0.46b0)", "opentelemetry-instrumentation-sqlalchemy (==0.46b0)", "opentelemetry-instrumentation-sqlite3 (==0.46b0)", "opentelemetry-instrumentation-starlette (==0.46b0)", "opentelemetry-instrumentation-system-metrics (==0.46b0)", "opentelemetry-instrumentation-threading (==0.46b0)", "opentelemetry-instrumentation-tornado (==0.46b0)", "opentelemetry-instrumentation-tortoiseorm (==0.46b0)", "opentelemetry-instrumentation-urllib (==0.46b0)", "opentelemetry-instrumentation-urllib3 (==0.46b0)", "opentelemetry-instrumentation-wsgi (==0.46b0)"]
+pure-eval = ["asttokens", "executing", "pure-eval"]
 pymongo = ["pymongo (>=3.1)"]
 pyspark = ["pyspark (>=2.4.4)"]
 quart = ["blinker (>=1.1)", "quart (>=0.16.1)"]
@@ -2081,7 +2306,7 @@ sanic = ["sanic (>=0.8)"]
 sqlalchemy = ["sqlalchemy (>=1.2)"]
 starlette = ["starlette (>=0.19.1)"]
 starlite = ["starlite (>=1.48)"]
-tornado = ["tornado (>=5)"]
+tornado = ["tornado (>=6)"]
 
 [[package]]
 name = "setproctitle"
@@ -2185,19 +2410,18 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "69.0.2"
+version = "70.3.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "setuptools-69.0.2.tar.gz", hash = "sha256:735896e78a4742605974de002ac60562d286fa8051a7e2299445e8e8fbb01aa6"},
+    {file = "setuptools-70.3.0-py3-none-any.whl", hash = "sha256:fe384da74336c398e0d956d1cae0669bc02eed936cdb1d49b57de1990dc11ffc"},
+    {file = "setuptools-70.3.0.tar.gz", hash = "sha256:f171bab1dfbc86b132997f26a119f6056a57950d058587841a0082e8830f9dc5"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
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+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.10.0)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "six"
@@ -2332,56 +2556,50 @@ dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.7"
+version = "1.0.8"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
 python-versions = ">=3.9"
 files = [
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+    {file = "sphinxcontrib_applehelp-1.0.8.tar.gz", hash = "sha256:c40a4f96f3776c4393d933412053962fac2b84f4c99a7982ba42e09576a70619"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.5"
+version = "1.0.6"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.4"
+version = "2.0.5"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["html5lib", "pytest"]
 
 [[package]]
@@ -2414,53 +2632,65 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.6"
+version = "1.0.7"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
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 python-versions = ">=3.9"
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 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.9"
+version = "1.1.10"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
 python-versions = ">=3.9"
 files = [
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-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sympy"
-version = "1.12"
+version = "1.13.0"
 description = "Computer algebra system (CAS) in Python"
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 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
-mpmath = ">=0.19"
+mpmath = ">=1.1.0,<1.4"
+
+[package.extras]
+dev = ["hypothesis (>=6.70.0)", "pytest (>=7.1.0)"]
+
+[[package]]
+name = "tbb"
+version = "2021.13.0"
+description = "Intel® oneAPI Threading Building Blocks (oneTBB)"
+optional = false
+python-versions = "*"
+files = [
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+]
 
 [[package]]
 name = "termcolor"
@@ -2489,37 +2719,38 @@ files = [
 
 [[package]]
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+version = "2.3.1"
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 python-versions = ">=3.8.0"
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-    {file = "urwid-2.3.4-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:0a263d8a90450166e0a195cf751b46d5081a48a3c00afa45a4ae582a34a6785e"},
-    {file = "urwid-2.3.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:5a6fc3651d5aff40d53b52cae1951d17c62126ffcc11c7f0d53583d28198b0a4"},
-    {file = "urwid-2.3.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:4e4a3500b7166f27ca830df8bcfb9969d97a98f340cd4b0f0299557dee8c39b3"},
-    {file = "urwid-2.3.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:963e89099b0438416b550161750a1e2fb52a328008732197d29e3675baacb150"},
-    {file = "urwid-2.3.4-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:448d248bd3cbe34f0422108db0cecb7d24336703677bce06b7ed67dc4892d925"},
-    {file = "urwid-2.3.4-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bae83944dc78bd178b0ad8cab9ff7d72b03ac01dcd0e1e01725142e241196f04"},
-    {file = "urwid-2.3.4-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:6cc8db27989f6166602a45f6382357827cba966e3bd607a9e409cf867f7b0ec6"},
-    {file = "urwid-2.3.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0c7e3f21b4427ecfffd6588fe5119eab7e12abd03576e8ba111fdfe2a78e3fdc"},
-    {file = "urwid-2.3.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:9dae4dbccae166ee9ff03bda58c36369a566d03274c1fbf559cff11117539bc7"},
-    {file = "urwid-2.3.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2c4a213be475ae81b250e401e670d74d5d4ffb3b034ff6fc52e721759788eb05"},
-    {file = "urwid-2.3.4-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7d38afb5bbcbca365fbd86746990c22167fbeb7f85d756bad33892f364028975"},
-    {file = "urwid-2.3.4-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5fbb765783120d5dc835424f6870190b6d73c020b44ab650b682fd9ffbc41a85"},
-    {file = "urwid-2.3.4.tar.gz", hash = "sha256:18b9f84cc80a4fcda55ea29f0ea260d31f8c1c721ff6a0396a396020e6667738"},
+    {file = "urwid-2.6.15-py3-none-any.whl", hash = "sha256:71b3171cabaa0092902f556768756bd2f2ebb24c0da287ee08f081d235340cb7"},
+    {file = "urwid-2.6.15.tar.gz", hash = "sha256:9ecc57330d88c8d9663ffd7092a681674c03ff794b6330ccfef479af7aa9671b"},
 ]
 
+[package.dependencies]
+typing-extensions = "*"
+wcwidth = "*"
+
 [package.extras]
+curses = ["windows-curses"]
 glib = ["PyGObject"]
 lcd = ["pyserial"]
 serial = ["pyserial"]
-tornado = ["tornado"]
+tornado = ["tornado (>=5.0)"]
 trio = ["exceptiongroup", "trio (>=0.22.0)"]
 twisted = ["twisted"]
 zmq = ["zmq"]
 
 [[package]]
 name = "urwid-readline"
-version = "0.13"
+version = "0.14"
 description = "A textbox edit widget for urwid that supports readline shortcuts"
 optional = false
 python-versions = "*"
 files = [
-    {file = "urwid_readline-0.13.tar.gz", hash = "sha256:018020cbc864bb5ed87be17dc26b069eae2755cb29f3a9c569aac3bded1efaf4"},
+    {file = "urwid_readline-0.14.tar.gz", hash = "sha256:8fabd2e501c124a30d38cfb10610b32f119a615ec0b310ae5591c583fb00bd09"},
 ]
 
 [package.dependencies]
@@ -2694,13 +2896,13 @@ dev = ["black", "pytest"]
 
 [[package]]
 name = "virtualenv"
-version = "20.25.0"
+version = "20.26.3"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.25.0-py3-none-any.whl", hash = "sha256:4238949c5ffe6876362d9c0180fc6c3a824a7b12b80604eeb8085f2ed7460de3"},
-    {file = "virtualenv-20.25.0.tar.gz", hash = "sha256:bf51c0d9c7dd63ea8e44086fa1e4fb1093a31e963b86959257378aef020e1f1b"},
+    {file = "virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589"},
+    {file = "virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a"},
 ]
 
 [package.dependencies]
@@ -2709,7 +2911,7 @@ filelock = ">=3.12.2,<4"
 platformdirs = ">=3.9.1,<5"
 
 [package.extras]
-docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2,!=7.3)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
 test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
 
 [[package]]
@@ -2754,22 +2956,33 @@ nexus = ["wandb-core (>=0.16.0b1)"]
 perf = ["orjson"]
 sweeps = ["sweeps (>=0.2.0)"]
 
+[[package]]
+name = "wcwidth"
+version = "0.2.13"
+description = "Measures the displayed width of unicode strings in a terminal"
+optional = false
+python-versions = "*"
+files = [
+    {file = "wcwidth-0.2.13-py2.py3-none-any.whl", hash = "sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859"},
+    {file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"},
+]
+
 [[package]]
 name = "zipp"
-version = "3.17.0"
+version = "3.19.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
-    {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
+    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
+    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9, <=3.11.5"
-content-hash = "ae46da98fc4133583a0718cd7883cbe9bcfb1288dfce09e8772967563e597194"
+content-hash = "c230a92887cc37a9a360f2d8555642c17f8f210ef1888b243bbdce8cdcb884c2"
diff --git a/pyproject.toml b/pyproject.toml
index 8e2ef48..363b8e2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,7 +27,7 @@ sphinx = "5.3.0"
 sphinx-rtd-theme = "^1.2.2"
 pytest = "^7.4.0"
 sphinx-copybutton = "^0.5.2"
-sconegym = {path = "../sconegym", develop = true}
+# sconegym = {path = "../sconegym", develop = true}
 matplotlib = "^3.8.0"
 myosuite = "^2.1.5"
 
diff --git a/requirements.txt b/requirements.txt
index 84317ac..c64fbc7 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,23 +1,25 @@
 appdirs==1.4.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-beautifulsoup4==4.12.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-certifi==2023.11.17 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+beautifulsoup4==4.12.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+certifi==2024.7.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 charset-normalizer==3.3.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 click==8.1.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 cloudpickle==1.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 colorama==0.4.6 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 docker-pycreds==0.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-filelock==3.13.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-fsspec==2023.12.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-gdown==4.7.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+filelock==3.15.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+fsspec==2024.6.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gdown==5.2.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gitdb==4.0.11 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-gitpython==3.1.40 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gitpython==3.1.43 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gym==0.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-idna==3.6 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-jinja2==3.1.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-markupsafe==2.1.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+idna==3.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+intel-openmp==2021.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
+jinja2==3.1.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+markupsafe==2.1.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+mkl==2021.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 mpmath==1.3.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 networkx==3.2.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-numpy==1.26.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+numpy==1.26.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cublas-cu12==12.1.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cuda-cupti-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cuda-nvrtc-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
@@ -27,33 +29,34 @@ nvidia-cufft-cu12==11.0.2.54 ; platform_system == "Linux" and platform_machine =
 nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-nvidia-nccl-cu12==2.18.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-nvidia-nvjitlink-cu12==12.3.101 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-nvjitlink-cu12==12.5.82 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-pandas==2.1.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pandas==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pathtools==0.1.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-protobuf==4.25.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-psutil==5.9.6 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-pyglet==2.0.10 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+protobuf==4.25.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+psutil==6.0.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pyglet==2.0.15 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pysocks==1.7.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-python-dateutil==2.8.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-pytz==2023.3.post1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+python-dateutil==2.9.0.post0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pytz==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pyyaml==6.0.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-requests==2.31.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-requests[socks]==2.31.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-scipy==1.11.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-sentry-sdk==1.39.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+requests==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+requests[socks]==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+scipy==1.13.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+sentry-sdk==2.9.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 setproctitle==1.3.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-setuptools==69.0.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+setuptools==70.3.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 six==1.16.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 smmap==5.0.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 soupsieve==2.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-sympy==1.12 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+sympy==1.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tbb==2021.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 termcolor==2.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-torch==2.1.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-tqdm==4.66.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-triton==2.1.0 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-typing-extensions==4.9.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-tzdata==2023.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-urllib3==2.1.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+torch==2.3.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tqdm==4.66.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+triton==2.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_full_version <= "3.11.5" and python_version >= "3.9"
+typing-extensions==4.12.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tzdata==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+urllib3==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 wandb==0.15.12 ; python_version >= "3.9" and python_full_version <= "3.11.5"

From 85a669caaa48a2694321c0d70d8d88320bd6b1f8 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 13:05:59 -0400
Subject: [PATCH 15/31] advances on gymnasium compatibility: environment header
 is now executed during environment creation

---
 deprl/custom_distributed.py                     |  2 ++
 deprl/vendor/tonic/environments/builders.py     | 17 ++++++++++++++---
 .../myosuite_training_files/myoLegWalk.yaml     |  6 +++---
 poetry.lock                                     |  7 ++++---
 4 files changed, 23 insertions(+), 9 deletions(-)

diff --git a/deprl/custom_distributed.py b/deprl/custom_distributed.py
index 955c67a..c489a9f 100644
--- a/deprl/custom_distributed.py
+++ b/deprl/custom_distributed.py
@@ -264,6 +264,8 @@ def distribute(
         env=environment, parallel=parallel, sequential=sequential
     )
 
+    if "header" in tonic_conf:
+        exec(tonic_conf["header"])
     dummy_environment = build_env_from_dict(build_dict)
     max_episode_steps = dummy_environment._max_episode_steps
     del dummy_environment
diff --git a/deprl/vendor/tonic/environments/builders.py b/deprl/vendor/tonic/environments/builders.py
index 1ab8c54..8f93ec8 100644
--- a/deprl/vendor/tonic/environments/builders.py
+++ b/deprl/vendor/tonic/environments/builders.py
@@ -5,6 +5,7 @@
 
 import gym.wrappers
 import numpy as np
+from myosuite.utils import gym
 
 from deprl.vendor.tonic import environments
 from deprl.vendor.tonic.utils import logger
@@ -12,27 +13,34 @@
 
 def gym_environment(*args, **kwargs):
     """Returns a wrapped Gym environment."""
+    if "header" in kwargs:
+        kwargs.pop("header")
 
     def _builder(*args, **kwargs):
         return gym.make(*args, **kwargs)
 
-    return build_environment(_builder, *args, **kwargs)
+    return build_environment(_builder, *args, **kwargs, header=None)
 
 
 def bullet_environment(*args, **kwargs):
     """Returns a wrapped PyBullet environment."""
+    if "header" in kwargs:
+        kwargs.pop("header")
 
     def _builder(*args, **kwargs):
         import pybullet_envs  # noqa
 
         return gym.make(*args, **kwargs)
 
-    return build_environment(_builder, *args, **kwargs)
+    return build_environment(_builder, *args, **kwargs, header=None)
 
 
 def control_suite_environment(*args, **kwargs):
     """Returns a wrapped Control Suite environment."""
 
+    if "header" in kwargs:
+        kwargs.pop("header")
+
     def _builder(name, *args, **kwargs):
         domain, task = name.split("-")
         environment = ControlSuiteEnvironment(
@@ -44,7 +52,7 @@ def _builder(name, *args, **kwargs):
         )
         return gym.wrappers.TimeLimit(environment, time_limit)
 
-    return build_environment(_builder, *args, **kwargs)
+    return build_environment(_builder, *args, **kwargs, header=None)
 
 
 def build_environment(
@@ -54,6 +62,7 @@ def build_environment(
     time_feature=False,
     max_episode_steps="default",
     scaled_actions=True,
+    header=None,
     *args,
     **kwargs,
 ):
@@ -62,6 +71,8 @@ def build_environment(
     time_feature=True, see https://arxiv.org/pdf/1712.00378.pdf for more
     details.
     """
+    if header is not None:
+        exec(header)
 
     # Build the environment.
     environment = builder(name, *args, **kwargs)
diff --git a/experiments/myosuite_training_files/myoLegWalk.yaml b/experiments/myosuite_training_files/myoLegWalk.yaml
index ea44cad..bbb3efb 100644
--- a/experiments/myosuite_training_files/myoLegWalk.yaml
+++ b/experiments/myosuite_training_files/myoLegWalk.yaml
@@ -28,12 +28,12 @@ tonic:
   environment: deprl.environments.Gym('myoLegWalk-v0', scaled_actions=False, reset_type='random')
   environment_name: deprl_baseline
   full_save: 1
-  header: import deprl, gym, myosuite
+  header: import deprl, myosuite; from myosuite.utils import gym
   name: myoLeg
-  parallel: 20
+  parallel: 1
   resume: 1
   seed: 0
-  sequential: 10
+  sequential: 1
   test_environment: null
   trainer: deprl.custom_trainer.Trainer(steps=int(1e8), epoch_steps=int(2e5), save_steps=int(1e6))
 working_dir: ./baselines_DEPRL
diff --git a/poetry.lock b/poetry.lock
index 5a9b25e..6d24b17 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2007,12 +2007,13 @@ test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
 [[package]]
 name = "pudb"
-version = "2024.1"
+version = "2024.1.1"
 description = "A full-screen, console-based Python debugger"
 optional = false
 python-versions = "~=3.8"
 files = [
-    {file = "pudb-2024.1.tar.gz", hash = "sha256:fc9d6a976a59b590764c8379ec200fecd47faa84259b64efd8cd86066a0af338"},
+    {file = "pudb-2024.1.1-py3-none-any.whl", hash = "sha256:b184af80036ea379a4f79ba7859ecf4fe0681a2b6f46e807f49d1900668f7c66"},
+    {file = "pudb-2024.1.1.tar.gz", hash = "sha256:ff5f5395e36a19a65f22f522fd6027d27a36ab783de4511b41c91484ab614975"},
 ]
 
 [package.dependencies]
@@ -2020,7 +2021,7 @@ jedi = ">=0.18,<1"
 packaging = ">=20.0"
 pygments = ">=2.7.4"
 urwid = ">=2.4"
-urwid_readline = "*"
+urwid-readline = "*"
 
 [package.extras]
 completion = ["shtab"]

From ddb31fdb294827739f9e4a532c9c71d03c66067d Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 14:26:20 -0400
Subject: [PATCH 16/31] further changes to the gym and myosuite wrapper

---
 deprl/env_wrappers/gym_wrapper.py                   |  5 ++++-
 deprl/env_wrappers/wrappers.py                      | 12 +++++++++---
 experiments/myosuite_training_files/myoLegWalk.yaml |  4 ++--
 3 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/deprl/env_wrappers/gym_wrapper.py b/deprl/env_wrappers/gym_wrapper.py
index 3eeb430..fd1eade 100644
--- a/deprl/env_wrappers/gym_wrapper.py
+++ b/deprl/env_wrappers/gym_wrapper.py
@@ -57,4 +57,7 @@ def muscle_activity(self):
 
     @property
     def _max_episode_steps(self):
-        return self.unwrapped.max_episode_steps
+        if hasattr(self.unwrapped, "max_episode_steps"):
+            return self.unwrapped.max_episode_steps
+        else:
+            return self.unwrapped.horizon
diff --git a/deprl/env_wrappers/wrappers.py b/deprl/env_wrappers/wrappers.py
index 6552554..7cf6bb5 100644
--- a/deprl/env_wrappers/wrappers.py
+++ b/deprl/env_wrappers/wrappers.py
@@ -88,7 +88,7 @@ def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
 
     def reset(self, **kwargs):
-        observation = super().reset(**kwargs)
+        observation = super().reset(**kwargs)[0]
         if not np.any(np.isnan(observation)):
             self.last_observation = observation.copy()
         else:
@@ -97,10 +97,16 @@ def reset(self, **kwargs):
 
     def step(self, action):
         try:
-            observation, reward, done, info = self._inner_step(action)
+            (
+                observation,
+                reward,
+                terminated,
+                truncated,
+                info,
+            ) = self._inner_step(action)
             if np.any(np.isnan(observation)):
                 raise self.error("NaN detected! Resetting.")
-
+            done = terminated or truncated
         except self.error as e:
             logger.log(f"Simulator exception thrown: {e}")
             observation = self.last_observation
diff --git a/experiments/myosuite_training_files/myoLegWalk.yaml b/experiments/myosuite_training_files/myoLegWalk.yaml
index bbb3efb..27a4081 100644
--- a/experiments/myosuite_training_files/myoLegWalk.yaml
+++ b/experiments/myosuite_training_files/myoLegWalk.yaml
@@ -30,10 +30,10 @@ tonic:
   full_save: 1
   header: import deprl, myosuite; from myosuite.utils import gym
   name: myoLeg
-  parallel: 1
+  parallel: 20
   resume: 1
   seed: 0
-  sequential: 1
+  sequential: 10
   test_environment: null
   trainer: deprl.custom_trainer.Trainer(steps=int(1e8), epoch_steps=int(2e5), save_steps=int(1e6))
 working_dir: ./baselines_DEPRL

From 370fa3c740ee4e6d32b5ba3fcd33a929ccd6e22b Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 14:58:00 -0400
Subject: [PATCH 17/31] changed dependencies

---
 poetry.lock      | 1872 ++++++++++++++++++++++++++--------------------
 pyproject.toml   |    2 +-
 requirements.txt |   63 +-
 3 files changed, 1077 insertions(+), 860 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index aacbe0a..380102e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,25 +1,25 @@
-# This file is automatically @generated by Poetry 1.5.0 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
-version = "2.0.0"
+version = "2.1.0"
 description = "Abseil Python Common Libraries, see https://github.com/abseil/abseil-py."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "absl-py-2.0.0.tar.gz", hash = "sha256:d9690211c5fcfefcdd1a45470ac2b5c5acd45241c3af71eed96bc5441746c0d5"},
-    {file = "absl_py-2.0.0-py3-none-any.whl", hash = "sha256:9a28abb62774ae4e8edbe2dd4c49ffcd45a6a848952a5eccc6a49f3f0fc1e2f3"},
+    {file = "absl-py-2.1.0.tar.gz", hash = "sha256:7820790efbb316739cde8b4e19357243fc3608a152024288513dd968d7d959ff"},
+    {file = "absl_py-2.1.0-py3-none-any.whl", hash = "sha256:526a04eadab8b4ee719ce68f204172ead1027549089702d99b9059f129ff1308"},
 ]
 
 [[package]]
 name = "alabaster"
-version = "0.7.13"
-description = "A configurable sidebar-enabled Sphinx theme"
+version = "0.7.16"
+description = "A light, configurable Sphinx theme"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.9"
 files = [
-    {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"},
-    {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
+    {file = "alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92"},
+    {file = "alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65"},
 ]
 
 [[package]]
@@ -35,13 +35,13 @@ files = [
 
 [[package]]
 name = "babel"
-version = "2.14.0"
+version = "2.15.0"
 description = "Internationalization utilities"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "Babel-2.14.0-py3-none-any.whl", hash = "sha256:efb1a25b7118e67ce3a259bed20545c29cb68be8ad2c784c83689981b7a57287"},
-    {file = "Babel-2.14.0.tar.gz", hash = "sha256:6919867db036398ba21eb5c7a0f6b28ab8cbc3ae7a73a44ebe34ae74a4e7d363"},
+    {file = "Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb"},
+    {file = "babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413"},
 ]
 
 [package.extras]
@@ -49,31 +49,34 @@ dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
 
 [[package]]
 name = "beautifulsoup4"
-version = "4.12.2"
+version = "4.12.3"
 description = "Screen-scraping library"
 optional = false
 python-versions = ">=3.6.0"
 files = [
-    {file = "beautifulsoup4-4.12.2-py3-none-any.whl", hash = "sha256:bd2520ca0d9d7d12694a53d44ac482d181b4ec1888909b035a3dbf40d0f57d4a"},
-    {file = "beautifulsoup4-4.12.2.tar.gz", hash = "sha256:492bbc69dca35d12daac71c4db1bfff0c876c00ef4a2ffacce226d4638eb72da"},
+    {file = "beautifulsoup4-4.12.3-py3-none-any.whl", hash = "sha256:b80878c9f40111313e55da8ba20bdba06d8fa3969fc68304167741bbf9e082ed"},
+    {file = "beautifulsoup4-4.12.3.tar.gz", hash = "sha256:74e3d1928edc070d21748185c46e3fb33490f22f52a3addee9aee0f4f7781051"},
 ]
 
 [package.dependencies]
 soupsieve = ">1.2"
 
 [package.extras]
+cchardet = ["cchardet"]
+chardet = ["chardet"]
+charset-normalizer = ["charset-normalizer"]
 html5lib = ["html5lib"]
 lxml = ["lxml"]
 
 [[package]]
 name = "certifi"
-version = "2023.11.17"
+version = "2024.7.4"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "certifi-2023.11.17-py3-none-any.whl", hash = "sha256:e036ab49d5b79556f99cfc2d9320b34cfbe5be05c5871b51de9329f0603b0474"},
-    {file = "certifi-2023.11.17.tar.gz", hash = "sha256:9b469f3a900bf28dc19b8cfbf8019bf47f7fdd1a65a1d4ffb98fc14166beb4d1"},
+    {file = "certifi-2024.7.4-py3-none-any.whl", hash = "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90"},
+    {file = "certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b"},
 ]
 
 [[package]]
@@ -224,64 +227,64 @@ files = [
 
 [[package]]
 name = "contourpy"
-version = "1.2.0"
+version = "1.2.1"
 description = "Python library for calculating contours of 2D quadrilateral grids"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "contourpy-1.2.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:0274c1cb63625972c0c007ab14dd9ba9e199c36ae1a231ce45d725cbcbfd10a8"},
-    {file = "contourpy-1.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ab459a1cbbf18e8698399c595a01f6dcc5c138220ca3ea9e7e6126232d102bb4"},
-    {file = "contourpy-1.2.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6fdd887f17c2f4572ce548461e4f96396681212d858cae7bd52ba3310bc6f00f"},
-    {file = "contourpy-1.2.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5d16edfc3fc09968e09ddffada434b3bf989bf4911535e04eada58469873e28e"},
-    {file = "contourpy-1.2.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:1c203f617abc0dde5792beb586f827021069fb6d403d7f4d5c2b543d87edceb9"},
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 ]
 
 [package.dependencies]
-numpy = ">=1.20,<2.0"
+numpy = ">=1.20"
 
 [package.extras]
 bokeh = ["bokeh", "selenium"]
 docs = ["furo", "sphinx (>=7.2)", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.6.1)", "types-Pillow"]
+mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.8.0)", "types-Pillow"]
 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
 test-no-images = ["pytest", "pytest-cov", "pytest-xdist", "wurlitzer"]
 
@@ -313,13 +316,13 @@ files = [
 
 [[package]]
 name = "dm-control"
-version = "1.0.14"
+version = "1.0.16"
 description = "Continuous control environments and MuJoCo Python bindings."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -329,7 +332,7 @@ dm-tree = "!=0.1.2"
 glfw = "*"
 labmaze = "*"
 lxml = "*"
-mujoco = ">=2.3.7"
+mujoco = ">=3.1.1"
 numpy = ">=1.9.0"
 protobuf = ">=3.19.4"
 pyopengl = ">=3.1.4"
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@@ -431,34 +441,82 @@ files = [
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 ]
 
+[[package]]
+name = "etils"
+version = "1.5.2"
+description = "Collection of common python utils"
+optional = false
+python-versions = ">=3.9"
+files = [
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+    {file = "etils-1.5.2.tar.gz", hash = "sha256:ba6a3e1aff95c769130776aa176c11540637f5dd881f3b79172a5149b6b1c446"},
+]
+
+[package.dependencies]
+fsspec = {version = "*", optional = true, markers = "extra == \"epath\""}
+importlib_resources = {version = "*", optional = true, markers = "extra == \"epath\""}
+typing_extensions = {version = "*", optional = true, markers = "extra == \"epy\""}
+zipp = {version = "*", optional = true, markers = "extra == \"epath\""}
+
+[package.extras]
+all = ["etils[array-types]", "etils[eapp]", "etils[ecolab]", "etils[edc]", "etils[enp]", "etils[epath-gcs]", "etils[epath-s3]", "etils[epath]", "etils[epy]", "etils[etqdm]", "etils[etree-dm]", "etils[etree-jax]", "etils[etree-tf]", "etils[etree]"]
+array-types = ["etils[enp]"]
+dev = ["chex", "dataclass_array", "optree", "pyink", "pylint (>=2.6.0)", "pytest", "pytest-subtests", "pytest-xdist", "torch"]
+docs = ["etils[all,dev]", "sphinx-apitree[ext]"]
+eapp = ["absl-py", "etils[epy]", "simple_parsing"]
+ecolab = ["etils[enp]", "etils[epy]", "jupyter", "mediapy", "numpy", "packaging"]
+edc = ["etils[epy]"]
+enp = ["etils[epy]", "numpy"]
+epath = ["etils[epy]", "fsspec", "importlib_resources", "typing_extensions", "zipp"]
+epath-gcs = ["etils[epath]", "gcsfs"]
+epath-s3 = ["etils[epath]", "s3fs"]
+epy = ["typing_extensions"]
+etqdm = ["absl-py", "etils[epy]", "tqdm"]
+etree = ["etils[array-types]", "etils[enp]", "etils[epy]", "etils[etqdm]"]
+etree-dm = ["dm-tree", "etils[etree]"]
+etree-jax = ["etils[etree]", "jax[cpu]"]
+etree-tf = ["etils[etree]", "tensorflow"]
+lazy-imports = ["etils[ecolab]"]
+
 [[package]]
 name = "exceptiongroup"
-version = "1.2.0"
+version = "1.2.1"
 description = "Backport of PEP 654 (exception groups)"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
 test = ["pytest (>=6)"]
 
+[[package]]
+name = "farama-notifications"
+version = "0.0.4"
+description = "Notifications for all Farama Foundation maintained libraries."
+optional = false
+python-versions = "*"
+files = [
+    {file = "Farama-Notifications-0.0.4.tar.gz", hash = "sha256:13fceff2d14314cf80703c8266462ebf3733c7d165336eee998fc58e545efd18"},
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+]
+
 [[package]]
 name = "filelock"
-version = "3.13.1"
+version = "3.15.4"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
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 [[package]]
@@ -477,60 +535,60 @@ six = ">=1.12,<2.0"
 
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 plot = ["matplotlib"]
 repacker = ["uharfbuzz (>=0.23.0)"]
@@ -542,13 +600,13 @@ woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
 
 [[package]]
 name = "fsspec"
-version = "2023.12.2"
+version = "2024.6.1"
 description = "File-system specification"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "fsspec-2023.12.2-py3-none-any.whl", hash = "sha256:d800d87f72189a745fa3d6b033b9dc4a34ad069f60ca60b943a63599f5501960"},
-    {file = "fsspec-2023.12.2.tar.gz", hash = "sha256:8548d39e8810b59c38014934f6b31e57f40c1b20f911f4cc2b85389c7e9bf0cb"},
+    {file = "fsspec-2024.6.1-py3-none-any.whl", hash = "sha256:3cb443f8bcd2efb31295a5b9fdb02aee81d8452c80d28f97a6d0959e6cee101e"},
+    {file = "fsspec-2024.6.1.tar.gz", hash = "sha256:fad7d7e209dd4c1208e3bbfda706620e0da5142bebbd9c384afb95b07e798e49"},
 ]
 
 [package.extras]
@@ -556,7 +614,8 @@ abfs = ["adlfs"]
 adl = ["adlfs"]
 arrow = ["pyarrow (>=1)"]
 dask = ["dask", "distributed"]
-devel = ["pytest", "pytest-cov"]
+dev = ["pre-commit", "ruff"]
+doc = ["numpydoc", "sphinx", "sphinx-design", "sphinx-rtd-theme", "yarl"]
 dropbox = ["dropbox", "dropboxdrivefs", "requests"]
 full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"]
 fuse = ["fusepy"]
@@ -566,33 +625,38 @@ github = ["requests"]
 gs = ["gcsfs"]
 gui = ["panel"]
 hdfs = ["pyarrow (>=1)"]
-http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "requests"]
+http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)"]
 libarchive = ["libarchive-c"]
 oci = ["ocifs"]
 s3 = ["s3fs"]
 sftp = ["paramiko"]
 smb = ["smbprotocol"]
 ssh = ["paramiko"]
+test = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "numpy", "pytest", "pytest-asyncio (!=0.22.0)", "pytest-benchmark", "pytest-cov", "pytest-mock", "pytest-recording", "pytest-rerunfailures", "requests"]
+test-downstream = ["aiobotocore (>=2.5.4,<3.0.0)", "dask-expr", "dask[dataframe,test]", "moto[server] (>4,<5)", "pytest-timeout", "xarray"]
+test-full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "cloudpickle", "dask", "distributed", "dropbox", "dropboxdrivefs", "fastparquet", "fusepy", "gcsfs", "jinja2", "kerchunk", "libarchive-c", "lz4", "notebook", "numpy", "ocifs", "pandas", "panel", "paramiko", "pyarrow", "pyarrow (>=1)", "pyftpdlib", "pygit2", "pytest", "pytest-asyncio (!=0.22.0)", "pytest-benchmark", "pytest-cov", "pytest-mock", "pytest-recording", "pytest-rerunfailures", "python-snappy", "requests", "smbprotocol", "tqdm", "urllib3", "zarr", "zstandard"]
 tqdm = ["tqdm"]
 
 [[package]]
 name = "gdown"
-version = "4.7.1"
-description = "Google Drive direct download of big files."
+version = "5.2.0"
+description = "Google Drive Public File/Folder Downloader"
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
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-    {file = "gdown-4.7.1.tar.gz", hash = "sha256:347f23769679aaf7efa73e5655270fcda8ca56be65eb84a4a21d143989541045"},
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+    {file = "gdown-5.2.0.tar.gz", hash = "sha256:2145165062d85520a3cd98b356c9ed522c5e7984d408535409fd46f94defc787"},
 ]
 
 [package.dependencies]
 beautifulsoup4 = "*"
 filelock = "*"
 requests = {version = "*", extras = ["socks"]}
-six = "*"
 tqdm = "*"
 
+[package.extras]
+test = ["build", "mypy", "pytest", "pytest-xdist", "ruff", "twine", "types-requests", "types-setuptools"]
+
 [[package]]
 name = "gitdb"
 version = "4.0.11"
@@ -609,37 +673,38 @@ smmap = ">=3.0.1,<6"
 
 [[package]]
 name = "gitpython"
-version = "3.1.40"
+version = "3.1.43"
 description = "GitPython is a Python library used to interact with Git repositories"
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "GitPython-3.1.40.tar.gz", hash = "sha256:22b126e9ffb671fdd0c129796343a02bf67bf2994b35449ffc9321aa755e18a4"},
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+    {file = "GitPython-3.1.43.tar.gz", hash = "sha256:35f314a9f878467f5453cc1fee295c3e18e52f1b99f10f6cf5b1682e968a9e7c"},
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 [package.dependencies]
 gitdb = ">=4.0.1,<5"
 
 [package.extras]
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+doc = ["sphinx (==4.3.2)", "sphinx-autodoc-typehints", "sphinx-rtd-theme", "sphinxcontrib-applehelp (>=1.0.2,<=1.0.4)", "sphinxcontrib-devhelp (==1.0.2)", "sphinxcontrib-htmlhelp (>=2.0.0,<=2.0.1)", "sphinxcontrib-qthelp (==1.0.3)", "sphinxcontrib-serializinghtml (==1.1.5)"]
+test = ["coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre-commit", "pytest (>=7.3.1)", "pytest-cov", "pytest-instafail", "pytest-mock", "pytest-sugar", "typing-extensions"]
 
 [[package]]
 name = "glfw"
-version = "2.6.3"
+version = "2.7.0"
 description = "A ctypes-based wrapper for GLFW3."
 optional = false
 python-versions = "*"
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 ]
 
 [package.extras]
@@ -669,38 +734,65 @@ box2d = ["box2d-py (>=2.3.5,<2.4.0)"]
 mujoco = ["imageio", "mujoco_py (>=1.50,<2.1)"]
 robotics = ["imageio", "mujoco_py (>=1.50,<2.1)"]
 
+[[package]]
+name = "gymnasium"
+version = "0.29.1"
+description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
+optional = false
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.dependencies]
+cloudpickle = ">=1.2.0"
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+importlib-metadata = {version = ">=4.8.0", markers = "python_version < \"3.10\""}
+numpy = ">=1.21.0"
+typing-extensions = ">=4.3.0"
+
+[package.extras]
+accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
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+atari = ["shimmy[atari] (>=0.1.0,<1.0)"]
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+classic-control = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
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+testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"]
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 ]
 
 [package.dependencies]
@@ -708,13 +800,13 @@ numpy = ">=1.17.3"
 
 [[package]]
 name = "identify"
-version = "2.5.33"
+version = "2.6.0"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -722,13 +814,13 @@ license = ["ukkonen"]
 
 [[package]]
 name = "idna"
-version = "3.6"
+version = "3.7"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
 python-versions = ">=3.5"
 files = [
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-    {file = "idna-3.6.tar.gz", hash = "sha256:9ecdbbd083b06798ae1e86adcbfe8ab1479cf864e4ee30fe4e46a003d12491ca"},
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+    {file = "idna-3.7.tar.gz", hash = "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc"},
 ]
 
 [[package]]
@@ -744,32 +836,32 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "7.0.0"
+version = "8.0.0"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
 zipp = ">=0.5"
 
 [package.extras]
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+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 perf = ["ipython"]
-testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)", "pytest-ruff"]
+test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
 
 [[package]]
 name = "importlib-resources"
-version = "6.1.1"
+version = "6.4.0"
 description = "Read resources from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -777,7 +869,7 @@ zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
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+testing = ["jaraco.test (>=5.4)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)", "zipp (>=3.17)"]
 
 [[package]]
 name = "iniconfig"
@@ -790,6 +882,20 @@ files = [
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 ]
 
+[[package]]
+name = "intel-openmp"
+version = "2021.4.0"
+description = "Intel OpenMP* Runtime Library"
+optional = false
+python-versions = "*"
+files = [
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+]
+
 [[package]]
 name = "jedi"
 version = "0.19.1"
@@ -811,13 +917,13 @@ testing = ["Django", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
 
 [[package]]
 name = "jinja2"
-version = "3.1.2"
+version = "3.1.4"
 description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -956,6 +1062,11 @@ files = [
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@@ -980,205 +1091,267 @@ setuptools = "!=50.0.0"
 
 [[package]]
 name = "lxml"
-version = "4.9.3"
+version = "5.2.2"
 description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*"
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 ]
 
 [package.dependencies]
@@ -1187,12 +1360,33 @@ cycler = ">=0.10"
 fonttools = ">=4.22.0"
 importlib-resources = {version = ">=3.2.0", markers = "python_version < \"3.10\""}
 kiwisolver = ">=1.3.1"
-numpy = ">=1.21,<2"
+numpy = ">=1.23"
 packaging = ">=20.0"
 pillow = ">=8"
 pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
 
+[package.extras]
+dev = ["meson-python (>=0.13.1)", "numpy (>=1.25)", "pybind11 (>=2.6)", "setuptools (>=64)", "setuptools_scm (>=7)"]
+
+[[package]]
+name = "mkl"
+version = "2021.4.0"
+description = "Intel® oneAPI Math Kernel Library"
+optional = false
+python-versions = "*"
+files = [
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+]
+
+[package.dependencies]
+intel-openmp = "==2021.*"
+tbb = "==2021.*"
+
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -1212,59 +1406,67 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "mujoco"
-version = "2.3.7"
+version = "3.1.2"
 description = "MuJoCo Physics Simulator"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "mujoco-3.1.2.tar.gz", hash = "sha256:53530bc1a91903f3fd4b1e99818cc38fbd9911700db29b2c9fc839f23bfacbb8"},
 ]
 
 [package.dependencies]
 absl-py = "*"
+etils = {version = "*", extras = ["epath"]}
 glfw = "*"
 numpy = "*"
 pyopengl = "*"
 
 [[package]]
 name = "myosuite"
-version = "2.1.5"
+version = "2.4.0"
 description = "Musculoskeletal environments simulated in MuJoCo"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "MyoSuite-2.4.0-py3-none-any.whl", hash = "sha256:e44ad06bb9ee8a7179f4c8c325c8cbc6637d4ce7b6b62922715052a790c1bb58"},
+    {file = "MyoSuite-2.4.0.tar.gz", hash = "sha256:b93e6c72d058adfb09119884d75b7e8b231a04330a67b066c52b1917824c76c9"},
 ]
 
 [package.dependencies]
 click = "*"
-dm-control = "1.0.14"
+dm-control = "1.0.16"
 flatten-dict = "*"
-gym = "0.13"
+gitpython = "*"
+gymnasium = "0.29.1"
 h5py = "*"
-mujoco = "2.3.7"
+mujoco = "3.1.2"
 numpy = "*"
+packaging = "*"
 Pillow = "*"
 pink-noise-rl = "*"
 sk-video = "*"
@@ -1290,61 +1492,58 @@ test = ["pytest (>=7.2)", "pytest-cov (>=4.0)"]
 
 [[package]]
 name = "nodeenv"
-version = "1.8.0"
+version = "1.9.1"
 description = "Node.js virtual environment builder"
 optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
 files = [
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 ]
 
-[package.dependencies]
-setuptools = "*"
-
 [[package]]
 name = "numpy"
-version = "1.26.2"
+version = "1.26.4"
 description = "Fundamental package for array computing in Python"
 optional = false
 python-versions = ">=3.9"
 files = [
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@@ -1770,48 +2007,48 @@ test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
 [[package]]
 name = "pudb"
-version = "2023.1"
+version = "2024.1.1"
 description = "A full-screen, console-based Python debugger"
 optional = false
 python-versions = "~=3.8"
 files = [
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 jedi = ">=0.18,<1"
 packaging = ">=20.0"
 pygments = ">=2.7.4"
-urwid = ">=1.1.1"
-urwid_readline = "*"
+urwid = ">=2.4"
+urwid-readline = "*"
 
 [package.extras]
 completion = ["shtab"]
 
 [[package]]
 name = "pyglet"
-version = "2.0.10"
-description = "Cross-platform windowing and multimedia library"
+version = "2.0.15"
+description = "pyglet is a cross-platform games and multimedia package."
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [[package]]
 name = "pygments"
-version = "2.17.2"
+version = "2.18.0"
 description = "Pygments is a syntax highlighting package written in Python."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
-plugins = ["importlib-metadata"]
 windows-terminal = ["colorama (>=0.4.6)"]
 
 [[package]]
@@ -1827,13 +2064,13 @@ files = [
 
 [[package]]
 name = "pyparsing"
-version = "3.1.1"
+version = "3.1.2"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 optional = false
 python-versions = ">=3.6.8"
 files = [
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 ]
 
 [package.extras]
@@ -1853,13 +2090,13 @@ files = [
 
 [[package]]
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-version = "7.4.3"
+version = "7.4.4"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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 [package.dependencies]
@@ -1875,13 +2112,13 @@ testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "no
 
 [[package]]
 name = "python-dateutil"
-version = "2.8.2"
+version = "2.9.0.post0"
 description = "Extensions to the standard Python datetime module"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -1889,13 +2126,13 @@ six = ">=1.5"
 
 [[package]]
 name = "pytz"
-version = "2023.3.post1"
+version = "2024.1"
 description = "World timezone definitions, modern and historical"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [[package]]
@@ -1923,6 +2160,7 @@ files = [
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@@ -1959,13 +2197,13 @@ files = [
 
 [[package]]
 name = "requests"
-version = "2.31.0"
+version = "2.32.3"
 description = "Python HTTP for Humans."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1981,98 +2219,86 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "scipy"
-version = "1.11.4"
+version = "1.13.1"
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 python-versions = ">=3.9"
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+    {file = "scipy-1.13.1.tar.gz", hash = "sha256:095a87a0312b08dfd6a6155cbbd310a8c51800fc931b8c0b84003014b874ed3c"},
 ]
 
 [package.dependencies]
-numpy = ">=1.21.6,<1.28.0"
+numpy = ">=1.22.4,<2.3"
 
 [package.extras]
-dev = ["click", "cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy", "pycodestyle", "pydevtool", "rich-click", "ruff", "types-psutil", "typing_extensions"]
-doc = ["jupytext", "matplotlib (>2)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-design (>=0.2.0)"]
-test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
-
-[[package]]
-name = "sconegym"
-version = "0.2.0"
-description = "Gym environment for scone-hyfydy."
-optional = false
-python-versions = "^3.8"
-files = []
-develop = true
-
-[package.dependencies]
-numpy = "*"
-torch = "*"
-
-[package.source]
-type = "directory"
-url = "../sconegym"
+dev = ["cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy", "pycodestyle", "pydevtool", "rich-click", "ruff", "types-psutil", "typing_extensions"]
+doc = ["jupyterlite-pyodide-kernel", "jupyterlite-sphinx (>=0.12.0)", "jupytext", "matplotlib (>=3.5)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (>=0.15.2)", "sphinx (>=5.0.0)", "sphinx-design (>=0.4.0)"]
+test = ["array-api-strict", "asv", "gmpy2", "hypothesis (>=6.30)", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
 
 [[package]]
 name = "sentry-sdk"
-version = "1.39.0"
+version = "2.9.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 files = [
-    {file = "sentry-sdk-1.39.0.tar.gz", hash = "sha256:67f62238af273eebd6432f85116dc6cd5422d4bc02df886514e8139e755f48e4"},
-    {file = "sentry_sdk-1.39.0-py2.py3-none-any.whl", hash = "sha256:9d3644b7c36a2c290f0d3275cba250202773f37545ef9097c8bcf561c6f5cdea"},
+    {file = "sentry_sdk-2.9.0-py2.py3-none-any.whl", hash = "sha256:0bea5fa8b564cc0d09f2e6f55893e8f70286048b0ffb3a341d5b695d1af0e6ee"},
+    {file = "sentry_sdk-2.9.0.tar.gz", hash = "sha256:4c85bad74df9767976afb3eeddc33e0e153300e887d637775a753a35ef99bee6"},
 ]
 
 [package.dependencies]
 certifi = "*"
-urllib3 = {version = ">=1.26.11", markers = "python_version >= \"3.6\""}
+urllib3 = ">=1.26.11"
 
 [package.extras]
 aiohttp = ["aiohttp (>=3.5)"]
+anthropic = ["anthropic (>=0.16)"]
 arq = ["arq (>=0.23)"]
 asyncpg = ["asyncpg (>=0.23)"]
 beam = ["apache-beam (>=2.12)"]
 bottle = ["bottle (>=0.12.13)"]
 celery = ["celery (>=3)"]
+celery-redbeat = ["celery-redbeat (>=2)"]
 chalice = ["chalice (>=1.16.0)"]
 clickhouse-driver = ["clickhouse-driver (>=0.2.0)"]
 django = ["django (>=1.8)"]
 falcon = ["falcon (>=1.4)"]
 fastapi = ["fastapi (>=0.79.0)"]
 flask = ["blinker (>=1.1)", "flask (>=0.11)", "markupsafe"]
-grpcio = ["grpcio (>=1.21.1)"]
+grpcio = ["grpcio (>=1.21.1)", "protobuf (>=3.8.0)"]
 httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
+huggingface-hub = ["huggingface-hub (>=0.22)"]
+langchain = ["langchain (>=0.0.210)"]
 loguru = ["loguru (>=0.5)"]
+openai = ["openai (>=1.0.0)", "tiktoken (>=0.3.0)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
-opentelemetry-experimental = ["opentelemetry-distro (>=0.40b0,<1.0)", "opentelemetry-instrumentation-aiohttp-client (>=0.40b0,<1.0)", "opentelemetry-instrumentation-django (>=0.40b0,<1.0)", "opentelemetry-instrumentation-fastapi (>=0.40b0,<1.0)", "opentelemetry-instrumentation-flask (>=0.40b0,<1.0)", "opentelemetry-instrumentation-requests (>=0.40b0,<1.0)", "opentelemetry-instrumentation-sqlite3 (>=0.40b0,<1.0)", "opentelemetry-instrumentation-urllib (>=0.40b0,<1.0)"]
-pure-eval = ["asttokens", "executing", "pure_eval"]
+opentelemetry-experimental = ["opentelemetry-instrumentation-aio-pika (==0.46b0)", "opentelemetry-instrumentation-aiohttp-client (==0.46b0)", "opentelemetry-instrumentation-aiopg (==0.46b0)", "opentelemetry-instrumentation-asgi (==0.46b0)", "opentelemetry-instrumentation-asyncio (==0.46b0)", "opentelemetry-instrumentation-asyncpg (==0.46b0)", "opentelemetry-instrumentation-aws-lambda (==0.46b0)", "opentelemetry-instrumentation-boto (==0.46b0)", "opentelemetry-instrumentation-boto3sqs (==0.46b0)", "opentelemetry-instrumentation-botocore (==0.46b0)", "opentelemetry-instrumentation-cassandra (==0.46b0)", "opentelemetry-instrumentation-celery (==0.46b0)", "opentelemetry-instrumentation-confluent-kafka (==0.46b0)", "opentelemetry-instrumentation-dbapi (==0.46b0)", "opentelemetry-instrumentation-django (==0.46b0)", "opentelemetry-instrumentation-elasticsearch (==0.46b0)", "opentelemetry-instrumentation-falcon (==0.46b0)", "opentelemetry-instrumentation-fastapi (==0.46b0)", "opentelemetry-instrumentation-flask (==0.46b0)", "opentelemetry-instrumentation-grpc (==0.46b0)", "opentelemetry-instrumentation-httpx (==0.46b0)", "opentelemetry-instrumentation-jinja2 (==0.46b0)", "opentelemetry-instrumentation-kafka-python (==0.46b0)", "opentelemetry-instrumentation-logging (==0.46b0)", "opentelemetry-instrumentation-mysql (==0.46b0)", "opentelemetry-instrumentation-mysqlclient (==0.46b0)", "opentelemetry-instrumentation-pika (==0.46b0)", "opentelemetry-instrumentation-psycopg (==0.46b0)", "opentelemetry-instrumentation-psycopg2 (==0.46b0)", "opentelemetry-instrumentation-pymemcache (==0.46b0)", "opentelemetry-instrumentation-pymongo (==0.46b0)", "opentelemetry-instrumentation-pymysql (==0.46b0)", "opentelemetry-instrumentation-pyramid (==0.46b0)", "opentelemetry-instrumentation-redis (==0.46b0)", "opentelemetry-instrumentation-remoulade (==0.46b0)", "opentelemetry-instrumentation-requests (==0.46b0)", "opentelemetry-instrumentation-sklearn (==0.46b0)", "opentelemetry-instrumentation-sqlalchemy (==0.46b0)", "opentelemetry-instrumentation-sqlite3 (==0.46b0)", "opentelemetry-instrumentation-starlette (==0.46b0)", "opentelemetry-instrumentation-system-metrics (==0.46b0)", "opentelemetry-instrumentation-threading (==0.46b0)", "opentelemetry-instrumentation-tornado (==0.46b0)", "opentelemetry-instrumentation-tortoiseorm (==0.46b0)", "opentelemetry-instrumentation-urllib (==0.46b0)", "opentelemetry-instrumentation-urllib3 (==0.46b0)", "opentelemetry-instrumentation-wsgi (==0.46b0)"]
+pure-eval = ["asttokens", "executing", "pure-eval"]
 pymongo = ["pymongo (>=3.1)"]
 pyspark = ["pyspark (>=2.4.4)"]
 quart = ["blinker (>=1.1)", "quart (>=0.16.1)"]
@@ -2081,7 +2307,7 @@ sanic = ["sanic (>=0.8)"]
 sqlalchemy = ["sqlalchemy (>=1.2)"]
 starlette = ["starlette (>=0.19.1)"]
 starlite = ["starlite (>=1.48)"]
-tornado = ["tornado (>=5)"]
+tornado = ["tornado (>=6)"]
 
 [[package]]
 name = "setproctitle"
@@ -2185,19 +2411,18 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "69.0.2"
+version = "70.3.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-69.0.2-py3-none-any.whl", hash = "sha256:1e8fdff6797d3865f37397be788a4e3cba233608e9b509382a2777d25ebde7f2"},
-    {file = "setuptools-69.0.2.tar.gz", hash = "sha256:735896e78a4742605974de002ac60562d286fa8051a7e2299445e8e8fbb01aa6"},
+    {file = "setuptools-70.3.0-py3-none-any.whl", hash = "sha256:fe384da74336c398e0d956d1cae0669bc02eed936cdb1d49b57de1990dc11ffc"},
+    {file = "setuptools-70.3.0.tar.gz", hash = "sha256:f171bab1dfbc86b132997f26a119f6056a57950d058587841a0082e8830f9dc5"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.10.0)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "six"
@@ -2332,56 +2557,50 @@ dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.7"
+version = "1.0.8"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_applehelp-1.0.7-py3-none-any.whl", hash = "sha256:094c4d56209d1734e7d252f6e0b3ccc090bd52ee56807a5d9315b19c122ab15d"},
-    {file = "sphinxcontrib_applehelp-1.0.7.tar.gz", hash = "sha256:39fdc8d762d33b01a7d8f026a3b7d71563ea3b72787d5f00ad8465bd9d6dfbfa"},
+    {file = "sphinxcontrib_applehelp-1.0.8-py3-none-any.whl", hash = "sha256:cb61eb0ec1b61f349e5cc36b2028e9e7ca765be05e49641c97241274753067b4"},
+    {file = "sphinxcontrib_applehelp-1.0.8.tar.gz", hash = "sha256:c40a4f96f3776c4393d933412053962fac2b84f4c99a7982ba42e09576a70619"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.5"
+version = "1.0.6"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_devhelp-1.0.5-py3-none-any.whl", hash = "sha256:fe8009aed765188f08fcaadbb3ea0d90ce8ae2d76710b7e29ea7d047177dae2f"},
-    {file = "sphinxcontrib_devhelp-1.0.5.tar.gz", hash = "sha256:63b41e0d38207ca40ebbeabcf4d8e51f76c03e78cd61abe118cf4435c73d4212"},
+    {file = "sphinxcontrib_devhelp-1.0.6-py3-none-any.whl", hash = "sha256:6485d09629944511c893fa11355bda18b742b83a2b181f9a009f7e500595c90f"},
+    {file = "sphinxcontrib_devhelp-1.0.6.tar.gz", hash = "sha256:9893fd3f90506bc4b97bdb977ceb8fbd823989f4316b28c3841ec128544372d3"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.4"
+version = "2.0.5"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_htmlhelp-2.0.4-py3-none-any.whl", hash = "sha256:8001661c077a73c29beaf4a79968d0726103c5605e27db92b9ebed8bab1359e9"},
-    {file = "sphinxcontrib_htmlhelp-2.0.4.tar.gz", hash = "sha256:6c26a118a05b76000738429b724a0568dbde5b72391a688577da08f11891092a"},
+    {file = "sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl", hash = "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04"},
+    {file = "sphinxcontrib_htmlhelp-2.0.5.tar.gz", hash = "sha256:0dc87637d5de53dd5eec3a6a01753b1ccf99494bd756aafecd74b4fa9e729015"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["html5lib", "pytest"]
 
 [[package]]
@@ -2414,53 +2633,65 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.6"
+version = "1.0.7"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_qthelp-1.0.6-py3-none-any.whl", hash = "sha256:bf76886ee7470b934e363da7a954ea2825650013d367728588732c7350f49ea4"},
-    {file = "sphinxcontrib_qthelp-1.0.6.tar.gz", hash = "sha256:62b9d1a186ab7f5ee3356d906f648cacb7a6bdb94d201ee7adf26db55092982d"},
+    {file = "sphinxcontrib_qthelp-1.0.7-py3-none-any.whl", hash = "sha256:e2ae3b5c492d58fcbd73281fbd27e34b8393ec34a073c792642cd8e529288182"},
+    {file = "sphinxcontrib_qthelp-1.0.7.tar.gz", hash = "sha256:053dedc38823a80a7209a80860b16b722e9e0209e32fea98c90e4e6624588ed6"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.9"
+version = "1.1.10"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_serializinghtml-1.1.9-py3-none-any.whl", hash = "sha256:9b36e503703ff04f20e9675771df105e58aa029cfcbc23b8ed716019b7416ae1"},
-    {file = "sphinxcontrib_serializinghtml-1.1.9.tar.gz", hash = "sha256:0c64ff898339e1fac29abd2bf5f11078f3ec413cfe9c046d3120d7ca65530b54"},
+    {file = "sphinxcontrib_serializinghtml-1.1.10-py3-none-any.whl", hash = "sha256:326369b8df80a7d2d8d7f99aa5ac577f51ea51556ed974e7716cfd4fca3f6cb7"},
+    {file = "sphinxcontrib_serializinghtml-1.1.10.tar.gz", hash = "sha256:93f3f5dc458b91b192fe10c397e324f262cf163d79f3282c158e8436a2c4511f"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sympy"
-version = "1.12"
+version = "1.13.0"
 description = "Computer algebra system (CAS) in Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "sympy-1.12-py3-none-any.whl", hash = "sha256:c3588cd4295d0c0f603d0f2ae780587e64e2efeedb3521e46b9bb1d08d184fa5"},
-    {file = "sympy-1.12.tar.gz", hash = "sha256:ebf595c8dac3e0fdc4152c51878b498396ec7f30e7a914d6071e674d49420fb8"},
+    {file = "sympy-1.13.0-py3-none-any.whl", hash = "sha256:6b0b32a4673fb91bd3cac3b55406c8e01d53ae22780be467301cc452f6680c92"},
+    {file = "sympy-1.13.0.tar.gz", hash = "sha256:3b6af8f4d008b9a1a6a4268b335b984b23835f26d1d60b0526ebc71d48a25f57"},
 ]
 
 [package.dependencies]
-mpmath = ">=0.19"
+mpmath = ">=1.1.0,<1.4"
+
+[package.extras]
+dev = ["hypothesis (>=6.70.0)", "pytest (>=7.1.0)"]
+
+[[package]]
+name = "tbb"
+version = "2021.13.0"
+description = "Intel® oneAPI Threading Building Blocks (oneTBB)"
+optional = false
+python-versions = "*"
+files = [
+    {file = "tbb-2021.13.0-py2.py3-none-manylinux1_i686.whl", hash = "sha256:a2567725329639519d46d92a2634cf61e76601dac2f777a05686fea546c4fe4f"},
+    {file = "tbb-2021.13.0-py2.py3-none-manylinux1_x86_64.whl", hash = "sha256:aaf667e92849adb012b8874d6393282afc318aca4407fc62f912ee30a22da46a"},
+    {file = "tbb-2021.13.0-py3-none-win32.whl", hash = "sha256:6669d26703e9943f6164c6407bd4a237a45007e79b8d3832fe6999576eaaa9ef"},
+    {file = "tbb-2021.13.0-py3-none-win_amd64.whl", hash = "sha256:3528a53e4bbe64b07a6112b4c5a00ff3c61924ee46c9c68e004a1ac7ad1f09c3"},
+]
 
 [[package]]
 name = "termcolor"
@@ -2489,37 +2720,38 @@ files = [
 
 [[package]]
 name = "torch"
-version = "2.1.1"
+version = "2.3.1"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
 optional = false
 python-versions = ">=3.8.0"
 files = [
-    {file = "torch-2.1.1-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:5ebc43f5355a9b7be813392b3fb0133991f0380f6f0fcc8218d5468dc45d1071"},
-    {file = "torch-2.1.1-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:84fefd63356416c0cd20578637ccdbb82164993400ed17b57c951dd6376dcee8"},
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-    {file = "urwid-2.3.4-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:32d91a4f2abaa022d6bcd8f4d7b179a1bb03afcb83be4707e5599131f322dbce"},
-    {file = "urwid-2.3.4-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:278ffe0c8366c03da533a983eb85ac80e325eec09f78988fd37fc830dc563eb2"},
-    {file = "urwid-2.3.4-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:0080ad86d37792faeda2ddaf7eaab711861c34f19996876dde649e28139a741d"},
-    {file = "urwid-2.3.4-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3c141f5e6a32e03e78ef28083691588d37f60fb5ffb2d96aecba3cda7fa38bb1"},
-    {file = "urwid-2.3.4-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:085b4b1ff4c0df96e2e82331a2353a56abbd5b7456e838baa995be4f12644347"},
-    {file = "urwid-2.3.4-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3ca3e5fbdddc3b4394cc93835a79358c56a54b05538edc7e8b66d2ff13c4689f"},
-    {file = "urwid-2.3.4-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:c79f55558dc50f8c19d1e1468e63942fc7577cbdb2ff948768931ef28548a5af"},
-    {file = "urwid-2.3.4-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c692bb9a314216c0cfe1fdd8787858e2e916e25f97c95e8411ba5933c0fe3c39"},
-    {file = "urwid-2.3.4-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:90440ef37b50ad5e947a095bfec7a048dfae938daa0d2355274accd886474932"},
-    {file = "urwid-2.3.4-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:205c7aa020c92797f65465e1a226fbf2122159b1565b936a5fd6ed6bd34b4440"},
-    {file = "urwid-2.3.4-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:0a263d8a90450166e0a195cf751b46d5081a48a3c00afa45a4ae582a34a6785e"},
-    {file = "urwid-2.3.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:5a6fc3651d5aff40d53b52cae1951d17c62126ffcc11c7f0d53583d28198b0a4"},
-    {file = "urwid-2.3.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:4e4a3500b7166f27ca830df8bcfb9969d97a98f340cd4b0f0299557dee8c39b3"},
-    {file = "urwid-2.3.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:963e89099b0438416b550161750a1e2fb52a328008732197d29e3675baacb150"},
-    {file = "urwid-2.3.4-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:448d248bd3cbe34f0422108db0cecb7d24336703677bce06b7ed67dc4892d925"},
-    {file = "urwid-2.3.4-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bae83944dc78bd178b0ad8cab9ff7d72b03ac01dcd0e1e01725142e241196f04"},
-    {file = "urwid-2.3.4-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:6cc8db27989f6166602a45f6382357827cba966e3bd607a9e409cf867f7b0ec6"},
-    {file = "urwid-2.3.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0c7e3f21b4427ecfffd6588fe5119eab7e12abd03576e8ba111fdfe2a78e3fdc"},
-    {file = "urwid-2.3.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:9dae4dbccae166ee9ff03bda58c36369a566d03274c1fbf559cff11117539bc7"},
-    {file = "urwid-2.3.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2c4a213be475ae81b250e401e670d74d5d4ffb3b034ff6fc52e721759788eb05"},
-    {file = "urwid-2.3.4-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7d38afb5bbcbca365fbd86746990c22167fbeb7f85d756bad33892f364028975"},
-    {file = "urwid-2.3.4-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5fbb765783120d5dc835424f6870190b6d73c020b44ab650b682fd9ffbc41a85"},
-    {file = "urwid-2.3.4.tar.gz", hash = "sha256:18b9f84cc80a4fcda55ea29f0ea260d31f8c1c721ff6a0396a396020e6667738"},
+    {file = "urwid-2.6.15-py3-none-any.whl", hash = "sha256:71b3171cabaa0092902f556768756bd2f2ebb24c0da287ee08f081d235340cb7"},
+    {file = "urwid-2.6.15.tar.gz", hash = "sha256:9ecc57330d88c8d9663ffd7092a681674c03ff794b6330ccfef479af7aa9671b"},
 ]
 
+[package.dependencies]
+typing-extensions = "*"
+wcwidth = "*"
+
 [package.extras]
+curses = ["windows-curses"]
 glib = ["PyGObject"]
 lcd = ["pyserial"]
 serial = ["pyserial"]
-tornado = ["tornado"]
+tornado = ["tornado (>=5.0)"]
 trio = ["exceptiongroup", "trio (>=0.22.0)"]
 twisted = ["twisted"]
 zmq = ["zmq"]
 
 [[package]]
 name = "urwid-readline"
-version = "0.13"
+version = "0.14"
 description = "A textbox edit widget for urwid that supports readline shortcuts"
 optional = false
 python-versions = "*"
 files = [
-    {file = "urwid_readline-0.13.tar.gz", hash = "sha256:018020cbc864bb5ed87be17dc26b069eae2755cb29f3a9c569aac3bded1efaf4"},
+    {file = "urwid_readline-0.14.tar.gz", hash = "sha256:8fabd2e501c124a30d38cfb10610b32f119a615ec0b310ae5591c583fb00bd09"},
 ]
 
 [package.dependencies]
@@ -2694,13 +2897,13 @@ dev = ["black", "pytest"]
 
 [[package]]
 name = "virtualenv"
-version = "20.25.0"
+version = "20.26.3"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.25.0-py3-none-any.whl", hash = "sha256:4238949c5ffe6876362d9c0180fc6c3a824a7b12b80604eeb8085f2ed7460de3"},
-    {file = "virtualenv-20.25.0.tar.gz", hash = "sha256:bf51c0d9c7dd63ea8e44086fa1e4fb1093a31e963b86959257378aef020e1f1b"},
+    {file = "virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589"},
+    {file = "virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a"},
 ]
 
 [package.dependencies]
@@ -2709,7 +2912,7 @@ filelock = ">=3.12.2,<4"
 platformdirs = ">=3.9.1,<5"
 
 [package.extras]
-docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2,!=7.3)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
 test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
 
 [[package]]
@@ -2754,22 +2957,33 @@ nexus = ["wandb-core (>=0.16.0b1)"]
 perf = ["orjson"]
 sweeps = ["sweeps (>=0.2.0)"]
 
+[[package]]
+name = "wcwidth"
+version = "0.2.13"
+description = "Measures the displayed width of unicode strings in a terminal"
+optional = false
+python-versions = "*"
+files = [
+    {file = "wcwidth-0.2.13-py2.py3-none-any.whl", hash = "sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859"},
+    {file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"},
+]
+
 [[package]]
 name = "zipp"
-version = "3.17.0"
+version = "3.19.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
-    {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
+    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
+    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9, <=3.11.5"
-content-hash = "ae46da98fc4133583a0718cd7883cbe9bcfb1288dfce09e8772967563e597194"
+content-hash = "c230a92887cc37a9a360f2d8555642c17f8f210ef1888b243bbdce8cdcb884c2"
diff --git a/pyproject.toml b/pyproject.toml
index 8e2ef48..363b8e2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,7 +27,7 @@ sphinx = "5.3.0"
 sphinx-rtd-theme = "^1.2.2"
 pytest = "^7.4.0"
 sphinx-copybutton = "^0.5.2"
-sconegym = {path = "../sconegym", develop = true}
+# sconegym = {path = "../sconegym", develop = true}
 matplotlib = "^3.8.0"
 myosuite = "^2.1.5"
 
diff --git a/requirements.txt b/requirements.txt
index 84317ac..c64fbc7 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,23 +1,25 @@
 appdirs==1.4.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-beautifulsoup4==4.12.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-certifi==2023.11.17 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+beautifulsoup4==4.12.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+certifi==2024.7.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 charset-normalizer==3.3.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 click==8.1.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 cloudpickle==1.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 colorama==0.4.6 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 docker-pycreds==0.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-filelock==3.13.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-fsspec==2023.12.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-gdown==4.7.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+filelock==3.15.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+fsspec==2024.6.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gdown==5.2.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gitdb==4.0.11 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-gitpython==3.1.40 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gitpython==3.1.43 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gym==0.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-idna==3.6 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-jinja2==3.1.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-markupsafe==2.1.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+idna==3.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+intel-openmp==2021.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
+jinja2==3.1.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+markupsafe==2.1.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+mkl==2021.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 mpmath==1.3.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 networkx==3.2.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-numpy==1.26.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+numpy==1.26.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cublas-cu12==12.1.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cuda-cupti-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cuda-nvrtc-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
@@ -27,33 +29,34 @@ nvidia-cufft-cu12==11.0.2.54 ; platform_system == "Linux" and platform_machine =
 nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-nvidia-nccl-cu12==2.18.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-nvidia-nvjitlink-cu12==12.3.101 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-nvjitlink-cu12==12.5.82 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-pandas==2.1.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pandas==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pathtools==0.1.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-protobuf==4.25.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-psutil==5.9.6 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-pyglet==2.0.10 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+protobuf==4.25.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+psutil==6.0.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pyglet==2.0.15 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pysocks==1.7.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-python-dateutil==2.8.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-pytz==2023.3.post1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+python-dateutil==2.9.0.post0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pytz==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pyyaml==6.0.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-requests==2.31.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-requests[socks]==2.31.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-scipy==1.11.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-sentry-sdk==1.39.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+requests==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+requests[socks]==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+scipy==1.13.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+sentry-sdk==2.9.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 setproctitle==1.3.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-setuptools==69.0.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+setuptools==70.3.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 six==1.16.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 smmap==5.0.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 soupsieve==2.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-sympy==1.12 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+sympy==1.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tbb==2021.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 termcolor==2.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-torch==2.1.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-tqdm==4.66.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-triton==2.1.0 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-typing-extensions==4.9.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-tzdata==2023.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-urllib3==2.1.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+torch==2.3.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tqdm==4.66.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+triton==2.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_full_version <= "3.11.5" and python_version >= "3.9"
+typing-extensions==4.12.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tzdata==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+urllib3==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 wandb==0.15.12 ; python_version >= "3.9" and python_full_version <= "3.11.5"

From a083cc9ea3567c866a9e511c38cda693283bd4c3 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 15:04:32 -0400
Subject: [PATCH 18/31] enabled windows tests

---
 .github/workflows/python-app.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/python-app.yml b/.github/workflows/python-app.yml
index 1c9e716..b0d4b23 100644
--- a/.github/workflows/python-app.yml
+++ b/.github/workflows/python-app.yml
@@ -32,7 +32,7 @@ jobs:
     strategy:
       matrix:
         os:
-          # - windows-latest
+          - windows-latest
           # - macos-latest
           - ubuntu-latest
 

From e94010c483c54b4ed9dc96949f2699670d680159 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 15:15:14 -0400
Subject: [PATCH 19/31] print path when reloading

---
 deprl/vendor/tonic/utils/logger.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/deprl/vendor/tonic/utils/logger.py b/deprl/vendor/tonic/utils/logger.py
index db8ac01..a637d32 100644
--- a/deprl/vendor/tonic/utils/logger.py
+++ b/deprl/vendor/tonic/utils/logger.py
@@ -52,7 +52,7 @@ def create_resumed_results_path(config, env):
         postfix = f".{env.unwrapped.model.name()}"
     folders = [x for x in os.walk(path)]
     if len(folders) != 0:
-        log("Found earlier run, continuing training.")
+        log("Found earlier run, continuing training: Path is: {path}")
         folder = get_sorted_folders(folders[0][1])[-1]
         return os.path.join(path, folder)
     else:

From a8099c32eaa9dbab73375da1280ebd3a9413d7f5 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 15:25:44 -0400
Subject: [PATCH 20/31] print path when reloading

---
 deprl/vendor/tonic/utils/logger.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/deprl/vendor/tonic/utils/logger.py b/deprl/vendor/tonic/utils/logger.py
index a637d32..54d9c5b 100644
--- a/deprl/vendor/tonic/utils/logger.py
+++ b/deprl/vendor/tonic/utils/logger.py
@@ -52,7 +52,7 @@ def create_resumed_results_path(config, env):
         postfix = f".{env.unwrapped.model.name()}"
     folders = [x for x in os.walk(path)]
     if len(folders) != 0:
-        log("Found earlier run, continuing training: Path is: {path}")
+        log(f"Found earlier run, continuing training: Path is: {path}")
         folder = get_sorted_folders(folders[0][1])[-1]
         return os.path.join(path, folder)
     else:

From 276c667b22b12c08919669cb9385be8f0986245d Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Tue, 13 Aug 2024 11:02:26 -0400
Subject: [PATCH 21/31] updates for gymnasium compat

---
 deprl/env_wrappers/scone_wrapper.py           |   9 +-
 deprl/env_wrappers/wrappers.py                |   4 +-
 deprl/vendor/tonic/environments/builders.py   |   7 +-
 .../hyfydy/scone_walk_opensim_h0918.yaml      |   6 +-
 .../myosuite_training_files/myoChaseTag.yaml  |   2 +-
 .../myosuite_training_files/myoRelocate.yaml  |   2 +-
 .../myosuite_training_files/myoRunTrack.yaml  |  39 +
 poetry.lock                                   | 741 +++++++++---------
 requirements.txt                              |  27 +-
 tests/test_deprl.py                           |   5 +-
 tests/test_myosuite_baselines.py              |   7 +-
 11 files changed, 436 insertions(+), 413 deletions(-)
 create mode 100644 experiments/myosuite_training_files/myoRunTrack.yaml

diff --git a/deprl/env_wrappers/scone_wrapper.py b/deprl/env_wrappers/scone_wrapper.py
index d3f2c00..87f2455 100644
--- a/deprl/env_wrappers/scone_wrapper.py
+++ b/deprl/env_wrappers/scone_wrapper.py
@@ -72,7 +72,14 @@ def _inner_step(self, action):
         done = self.unwrapped._get_done()
         self.unwrapped.time += self.step_size
         self.unwrapped.total_reward += reward
-        return obs, reward, done, {}
+        truncated = (
+            self.unwrapped.time / self.step_size
+        ) < self._max_episode_steps
+        return obs, reward, done, truncated, {}
+
+    def reset(self, *args, **kwargs):
+        obs = super().reset()
+        return obs, obs
 
     @property
     def _max_episode_steps(self):
diff --git a/deprl/env_wrappers/wrappers.py b/deprl/env_wrappers/wrappers.py
index 7cf6bb5..31d3521 100644
--- a/deprl/env_wrappers/wrappers.py
+++ b/deprl/env_wrappers/wrappers.py
@@ -88,7 +88,9 @@ def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
 
     def reset(self, **kwargs):
-        observation = super().reset(**kwargs)[0]
+        observation = super().reset(**kwargs)
+        if len(observation) == 2 and type(observation) is tuple:
+            observation = observation[0]
         if not np.any(np.isnan(observation)):
             self.last_observation = observation.copy()
         else:
diff --git a/deprl/vendor/tonic/environments/builders.py b/deprl/vendor/tonic/environments/builders.py
index 8f93ec8..bc1e540 100644
--- a/deprl/vendor/tonic/environments/builders.py
+++ b/deprl/vendor/tonic/environments/builders.py
@@ -5,7 +5,12 @@
 
 import gym.wrappers
 import numpy as np
-from myosuite.utils import gym
+
+try:
+    from myosuite.utils import gym
+except ModuleNotFoundError:
+    pass
+
 
 from deprl.vendor.tonic import environments
 from deprl.vendor.tonic.utils import logger
diff --git a/experiments/hyfydy/scone_walk_opensim_h0918.yaml b/experiments/hyfydy/scone_walk_opensim_h0918.yaml
index 0ffca8f..ce38b90 100644
--- a/experiments/hyfydy/scone_walk_opensim_h0918.yaml
+++ b/experiments/hyfydy/scone_walk_opensim_h0918.yaml
@@ -2,7 +2,7 @@ tonic:
   after_training: ''
   header: "import deprl, gym, sconegym"
   agent: "deprl.custom_agents.dep_factory(3, deprl.custom_mpo_torch.TunedMPO())(replay=deprl.custom_replay_buffers.AdaptiveEnergyBuffer(return_steps=1,
-    batch_size=256, steps_between_batches=1000, batch_iterations=30, steps_before_batches=2e5,
+    batch_size=256, steps_between_batches=1000, batch_iterations=30, steps_before_batches=1000,
     num_acts=18))"
   before_training: ''
   checkpoint: "last"
@@ -11,8 +11,8 @@ tonic:
   name: "sconewalk_h0918_osimv1"
   resume: true
   seed: 0
-  parallel: 20
-  sequential: 10
+  parallel: 1
+  sequential: 1
   test_environment: null
   trainer: "deprl.custom_trainer.Trainer(steps=int(5e8), epoch_steps=int(2e5), save_steps=int(1e6))"
 
diff --git a/experiments/myosuite_training_files/myoChaseTag.yaml b/experiments/myosuite_training_files/myoChaseTag.yaml
index 3e1ab46..ac123d1 100644
--- a/experiments/myosuite_training_files/myoChaseTag.yaml
+++ b/experiments/myosuite_training_files/myoChaseTag.yaml
@@ -29,7 +29,7 @@ tonic:
     reset_type='random')
   environment_name: deprl_baseline_chasetag
   full_save: 1
-  header: import deprl, gym, myosuite
+  header: import deprl, myosuite; from myosuite.utils import gym
   name: myoChasetag
   parallel: 20
   path: ./output
diff --git a/experiments/myosuite_training_files/myoRelocate.yaml b/experiments/myosuite_training_files/myoRelocate.yaml
index 4350855..e1072d3 100644
--- a/experiments/myosuite_training_files/myoRelocate.yaml
+++ b/experiments/myosuite_training_files/myoRelocate.yaml
@@ -23,7 +23,7 @@ tonic:
   environment: deprl.environments.Gym('myoChallengeRelocateP1-v0', scaled_actions=False)
   environment_name: deprl_baseline_relocate
   full_save: 1
-  header: import deprl, gym, myosuite
+  header: import deprl, myosuite; from myosuite.utils import gym
   name: Relocate
   parallel: 20
   resume: 1
diff --git a/experiments/myosuite_training_files/myoRunTrack.yaml b/experiments/myosuite_training_files/myoRunTrack.yaml
new file mode 100644
index 0000000..f801718
--- /dev/null
+++ b/experiments/myosuite_training_files/myoRunTrack.yaml
@@ -0,0 +1,39 @@
+DEP:
+  bias_rate: 0.002
+  buffer_size: 200
+  intervention_length: 5
+  intervention_proba: 0.0004
+  kappa: 1169.7
+  normalization: independent
+  q_norm_selector: l2
+  regularization: 32
+  s4avg: 2
+  sensor_delay: 1
+  tau: 40
+  test_episode_every: 3
+  time_dist: 5
+  with_learning: true
+env_args: {}
+mpo_args:
+  hidden_size: 1024
+  lr_actor: 3.53e-05
+  lr_critic: 6.081e-05
+  lr_dual: 0.00213
+tonic:
+  after_training: ''
+  agent: deprl.custom_agents.dep_factory(3, deprl.custom_mpo_torch.TunedMPO())(replay=deprl.replays.buffers.Buffer(return_steps=3,
+    batch_size=256, steps_between_batches=1000, batch_iterations=30, steps_before_batches=2e5))
+  before_training: ''
+  checkpoint: last
+  environment: deprl.environments.Gym('myoChallengeRunTrackP1-v0', scaled_actions=False)
+  environment_name: deprl_baseline_runtrack
+  full_save: 1
+  header: import deprl, myosuite; from myosuite.utils import gym
+  name: myoLeg
+  parallel: 20
+  resume: 1
+  seed: 0
+  sequential: 10
+  test_environment: null
+  trainer: deprl.custom_trainer.Trainer(steps=int(1e8), epoch_steps=int(2e5), save_steps=int(1e6))
+working_dir: ./baselines_DEPRL
diff --git a/poetry.lock b/poetry.lock
index 6d24b17..934f9ac 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -35,13 +35,13 @@ files = [
 
 [[package]]
 name = "babel"
-version = "2.15.0"
+version = "2.16.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb"},
-    {file = "babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413"},
+    {file = "babel-2.16.0-py3-none-any.whl", hash = "sha256:368b5b98b37c06b7daf6696391c3240c938b37767d4584413e8438c5c435fa8b"},
+    {file = "babel-2.16.0.tar.gz", hash = "sha256:d1f3554ca26605fe173f3de0c65f750f5a42f924499bf134de6423582298e316"},
 ]
 
 [package.extras]
@@ -480,13 +480,13 @@ lazy-imports = ["etils[ecolab]"]
 
 [[package]]
 name = "exceptiongroup"
-version = "1.2.1"
+version = "1.2.2"
 description = "Backport of PEP 654 (exception groups)"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "exceptiongroup-1.2.1-py3-none-any.whl", hash = "sha256:5258b9ed329c5bbdd31a309f53cbfb0b155341807f6ff7606a1e801a891b29ad"},
-    {file = "exceptiongroup-1.2.1.tar.gz", hash = "sha256:a4785e48b045528f5bfe627b6ad554ff32def154f42372786903b7abcfe1aa16"},
+    {file = "exceptiongroup-1.2.2-py3-none-any.whl", hash = "sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b"},
+    {file = "exceptiongroup-1.2.2.tar.gz", hash = "sha256:47c2edf7c6738fafb49fd34290706d1a1a2f4d1c6df275526b62cbb4aa5393cc"},
 ]
 
 [package.extras]
@@ -836,13 +836,13 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "8.0.0"
+version = "8.2.0"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_metadata-8.0.0-py3-none-any.whl", hash = "sha256:15584cf2b1bf449d98ff8a6ff1abef57bf20f3ac6454f431736cd3e660921b2f"},
-    {file = "importlib_metadata-8.0.0.tar.gz", hash = "sha256:188bd24e4c346d3f0a933f275c2fec67050326a856b9a359881d7c2a697e8812"},
+    {file = "importlib_metadata-8.2.0-py3-none-any.whl", hash = "sha256:11901fa0c2f97919b288679932bb64febaeacf289d18ac84dd68cb2e74213369"},
+    {file = "importlib_metadata-8.2.0.tar.gz", hash = "sha256:72e8d4399996132204f9a16dcc751af254a48f8d1b20b9ff0f98d4a8f901e73d"},
 ]
 
 [package.dependencies]
@@ -882,20 +882,6 @@ files = [
     {file = "iniconfig-2.0.0.tar.gz", hash = "sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3"},
 ]
 
-[[package]]
-name = "intel-openmp"
-version = "2021.4.0"
-description = "Intel OpenMP* Runtime Library"
-optional = false
-python-versions = "*"
-files = [
-    {file = "intel_openmp-2021.4.0-py2.py3-none-macosx_10_15_x86_64.macosx_11_0_x86_64.whl", hash = "sha256:41c01e266a7fdb631a7609191709322da2bbf24b252ba763f125dd651bcc7675"},
-    {file = "intel_openmp-2021.4.0-py2.py3-none-manylinux1_i686.whl", hash = "sha256:3b921236a38384e2016f0f3d65af6732cf2c12918087128a9163225451e776f2"},
-    {file = "intel_openmp-2021.4.0-py2.py3-none-manylinux1_x86_64.whl", hash = "sha256:e2240ab8d01472fed04f3544a878cda5da16c26232b7ea1b59132dbfb48b186e"},
-    {file = "intel_openmp-2021.4.0-py2.py3-none-win32.whl", hash = "sha256:6e863d8fd3d7e8ef389d52cf97a50fe2afe1a19247e8c0d168ce021546f96fc9"},
-    {file = "intel_openmp-2021.4.0-py2.py3-none-win_amd64.whl", hash = "sha256:eef4c8bcc8acefd7f5cd3b9384dbf73d59e2c99fc56545712ded913f43c4a94f"},
-]
-
 [[package]]
 name = "jedi"
 version = "0.19.1"
@@ -1091,153 +1077,149 @@ setuptools = "!=50.0.0"
 
 [[package]]
 name = "lxml"
-version = "5.2.2"
+version = "5.3.0"
 description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "lxml-5.2.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:364d03207f3e603922d0d3932ef363d55bbf48e3647395765f9bfcbdf6d23632"},
-    {file = "lxml-5.2.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:50127c186f191b8917ea2fb8b206fbebe87fd414a6084d15568c27d0a21d60db"},
-    {file = "lxml-5.2.2-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:74e4f025ef3db1c6da4460dd27c118d8cd136d0391da4e387a15e48e5c975147"},
-    {file = "lxml-5.2.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:981a06a3076997adf7c743dcd0d7a0415582661e2517c7d961493572e909aa1d"},
-    {file = "lxml-5.2.2-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:aef5474d913d3b05e613906ba4090433c515e13ea49c837aca18bde190853dff"},
-    {file = "lxml-5.2.2-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:1e275ea572389e41e8b039ac076a46cb87ee6b8542df3fff26f5baab43713bca"},
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 htmlsoup = ["BeautifulSoup4"]
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 [package.dependencies]
@@ -1369,24 +1362,6 @@ python-dateutil = ">=2.7"
 [package.extras]
 dev = ["meson-python (>=0.13.1)", "numpy (>=1.25)", "pybind11 (>=2.6)", "setuptools (>=64)", "setuptools_scm (>=7)"]
 
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-[package.dependencies]
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-tbb = "==2021.*"
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 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -1448,13 +1423,13 @@ pyopengl = "*"
 
 [[package]]
 name = "myosuite"
-version = "2.4.0"
+version = "2.5.0"
 description = "Musculoskeletal environments simulated in MuJoCo"
 optional = false
 python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
@@ -1592,12 +1567,13 @@ files = [
 
 [[package]]
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+version = "9.1.0.70"
 description = "cuDNN runtime libraries"
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 python-versions = ">=3"
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 [package.dependencies]
@@ -1668,13 +1644,14 @@ files = [
 
 [[package]]
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+version = "12.6.20"
 description = "Nvidia JIT LTO Library"
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 python-versions = ">=3"
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 ]
 
 [[package]]
@@ -1940,13 +1917,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "pre-commit"
-version = "3.7.1"
+version = "3.8.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
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 python-versions = ">=3.9"
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 ]
 
 [package.dependencies]
@@ -1958,22 +1935,22 @@ virtualenv = ">=20.10.0"
 
 [[package]]
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 description = ""
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 python-versions = ">=3.8"
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 [[package]]
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 ]
 
 [[package]]
@@ -2261,13 +2240,13 @@ test = ["array-api-strict", "asv", "gmpy2", "hypothesis (>=6.30)", "mpmath", "po
 
 [[package]]
 name = "sentry-sdk"
-version = "2.9.0"
+version = "2.13.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
@@ -2294,10 +2273,11 @@ httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
 huggingface-hub = ["huggingface-hub (>=0.22)"]
 langchain = ["langchain (>=0.0.210)"]
+litestar = ["litestar (>=2.0.0)"]
 loguru = ["loguru (>=0.5)"]
 openai = ["openai (>=1.0.0)", "tiktoken (>=0.3.0)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
-opentelemetry-experimental = ["opentelemetry-instrumentation-aio-pika (==0.46b0)", "opentelemetry-instrumentation-aiohttp-client (==0.46b0)", "opentelemetry-instrumentation-aiopg (==0.46b0)", "opentelemetry-instrumentation-asgi (==0.46b0)", "opentelemetry-instrumentation-asyncio (==0.46b0)", "opentelemetry-instrumentation-asyncpg (==0.46b0)", "opentelemetry-instrumentation-aws-lambda (==0.46b0)", "opentelemetry-instrumentation-boto (==0.46b0)", "opentelemetry-instrumentation-boto3sqs (==0.46b0)", "opentelemetry-instrumentation-botocore (==0.46b0)", "opentelemetry-instrumentation-cassandra (==0.46b0)", "opentelemetry-instrumentation-celery (==0.46b0)", "opentelemetry-instrumentation-confluent-kafka (==0.46b0)", "opentelemetry-instrumentation-dbapi (==0.46b0)", "opentelemetry-instrumentation-django (==0.46b0)", "opentelemetry-instrumentation-elasticsearch (==0.46b0)", "opentelemetry-instrumentation-falcon (==0.46b0)", "opentelemetry-instrumentation-fastapi (==0.46b0)", "opentelemetry-instrumentation-flask (==0.46b0)", "opentelemetry-instrumentation-grpc (==0.46b0)", "opentelemetry-instrumentation-httpx (==0.46b0)", "opentelemetry-instrumentation-jinja2 (==0.46b0)", "opentelemetry-instrumentation-kafka-python (==0.46b0)", "opentelemetry-instrumentation-logging (==0.46b0)", "opentelemetry-instrumentation-mysql (==0.46b0)", "opentelemetry-instrumentation-mysqlclient (==0.46b0)", "opentelemetry-instrumentation-pika (==0.46b0)", "opentelemetry-instrumentation-psycopg (==0.46b0)", "opentelemetry-instrumentation-psycopg2 (==0.46b0)", "opentelemetry-instrumentation-pymemcache (==0.46b0)", "opentelemetry-instrumentation-pymongo (==0.46b0)", "opentelemetry-instrumentation-pymysql (==0.46b0)", "opentelemetry-instrumentation-pyramid (==0.46b0)", "opentelemetry-instrumentation-redis (==0.46b0)", "opentelemetry-instrumentation-remoulade (==0.46b0)", "opentelemetry-instrumentation-requests (==0.46b0)", "opentelemetry-instrumentation-sklearn (==0.46b0)", "opentelemetry-instrumentation-sqlalchemy (==0.46b0)", "opentelemetry-instrumentation-sqlite3 (==0.46b0)", "opentelemetry-instrumentation-starlette (==0.46b0)", "opentelemetry-instrumentation-system-metrics (==0.46b0)", "opentelemetry-instrumentation-threading (==0.46b0)", "opentelemetry-instrumentation-tornado (==0.46b0)", "opentelemetry-instrumentation-tortoiseorm (==0.46b0)", "opentelemetry-instrumentation-urllib (==0.46b0)", "opentelemetry-instrumentation-urllib3 (==0.46b0)", "opentelemetry-instrumentation-wsgi (==0.46b0)"]
+opentelemetry-experimental = ["opentelemetry-distro"]
 pure-eval = ["asttokens", "executing", "pure-eval"]
 pymongo = ["pymongo (>=3.1)"]
 pyspark = ["pyspark (>=2.4.4)"]
@@ -2411,18 +2391,19 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "70.3.0"
+version = "72.1.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
+core = ["importlib-metadata (>=6)", "importlib-resources (>=5.10.2)", "jaraco.text (>=3.7)", "more-itertools (>=8.8)", "ordered-set (>=3.1.1)", "packaging (>=24)", "platformdirs (>=2.6.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.10.0)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.11.*)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (<0.4)", "pytest-ruff (>=0.2.1)", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "six"
@@ -2474,13 +2455,13 @@ files = [
 
 [[package]]
 name = "soupsieve"
-version = "2.5"
+version = "2.6"
 description = "A modern CSS selector implementation for Beautiful Soup."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "soupsieve-2.5-py3-none-any.whl", hash = "sha256:eaa337ff55a1579b6549dc679565eac1e3d000563bcb1c8ab0d0fefbc0c2cdc7"},
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+    {file = "soupsieve-2.6-py3-none-any.whl", hash = "sha256:e72c4ff06e4fb6e4b5a9f0f55fe6e81514581fca1515028625d0f299c602ccc9"},
+    {file = "soupsieve-2.6.tar.gz", hash = "sha256:e2e68417777af359ec65daac1057404a3c8a5455bb8abc36f1a9866ab1a51abb"},
 ]
 
 [[package]]
@@ -2557,49 +2538,49 @@ dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.8"
+version = "2.0.0"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_applehelp-1.0.8-py3-none-any.whl", hash = "sha256:cb61eb0ec1b61f349e5cc36b2028e9e7ca765be05e49641c97241274753067b4"},
-    {file = "sphinxcontrib_applehelp-1.0.8.tar.gz", hash = "sha256:c40a4f96f3776c4393d933412053962fac2b84f4c99a7982ba42e09576a70619"},
+    {file = "sphinxcontrib_applehelp-2.0.0-py3-none-any.whl", hash = "sha256:4cd3f0ec4ac5dd9c17ec65e9ab272c9b867ea77425228e68ecf08d6b28ddbdb5"},
+    {file = "sphinxcontrib_applehelp-2.0.0.tar.gz", hash = "sha256:2f29ef331735ce958efa4734873f084941970894c6090408b079c61b2e1c06d1"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.6"
+version = "2.0.0"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_devhelp-1.0.6-py3-none-any.whl", hash = "sha256:6485d09629944511c893fa11355bda18b742b83a2b181f9a009f7e500595c90f"},
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 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.5"
+version = "2.1.0"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl", hash = "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04"},
-    {file = "sphinxcontrib_htmlhelp-2.0.5.tar.gz", hash = "sha256:0dc87637d5de53dd5eec3a6a01753b1ccf99494bd756aafecd74b4fa9e729015"},
+    {file = "sphinxcontrib_htmlhelp-2.1.0-py3-none-any.whl", hash = "sha256:166759820b47002d22914d64a075ce08f4c46818e17cfc9470a9786b759b19f8"},
+    {file = "sphinxcontrib_htmlhelp-2.1.0.tar.gz", hash = "sha256:c9e2916ace8aad64cc13a0d233ee22317f2b9025b9cf3295249fa985cc7082e9"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["html5lib", "pytest"]
 
@@ -2633,45 +2614,45 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.7"
+version = "2.0.0"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
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+    {file = "sphinxcontrib_qthelp-2.0.0-py3-none-any.whl", hash = "sha256:b18a828cdba941ccd6ee8445dbe72ffa3ef8cbe7505d8cd1fa0d42d3f2d5f3eb"},
+    {file = "sphinxcontrib_qthelp-2.0.0.tar.gz", hash = "sha256:4fe7d0ac8fc171045be623aba3e2a8f613f8682731f9153bb2e40ece16b9bbab"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
-test = ["pytest"]
+test = ["defusedxml (>=0.7.1)", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.10"
+version = "2.0.0"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
 python-versions = ">=3.9"
 files = [
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+    {file = "sphinxcontrib_serializinghtml-2.0.0.tar.gz", hash = "sha256:e9d912827f872c029017a53f0ef2180b327c3f7fd23c87229f7a8e8b70031d4d"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sympy"
-version = "1.13.0"
+version = "1.13.2"
 description = "Computer algebra system (CAS) in Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "sympy-1.13.0-py3-none-any.whl", hash = "sha256:6b0b32a4673fb91bd3cac3b55406c8e01d53ae22780be467301cc452f6680c92"},
-    {file = "sympy-1.13.0.tar.gz", hash = "sha256:3b6af8f4d008b9a1a6a4268b335b984b23835f26d1d60b0526ebc71d48a25f57"},
+    {file = "sympy-1.13.2-py3-none-any.whl", hash = "sha256:c51d75517712f1aed280d4ce58506a4a88d635d6b5dd48b39102a7ae1f3fcfe9"},
+    {file = "sympy-1.13.2.tar.gz", hash = "sha256:401449d84d07be9d0c7a46a64bd54fe097667d5e7181bfe67ec777be9e01cb13"},
 ]
 
 [package.dependencies]
@@ -2680,19 +2661,6 @@ mpmath = ">=1.1.0,<1.4"
 [package.extras]
 dev = ["hypothesis (>=6.70.0)", "pytest (>=7.1.0)"]
 
-[[package]]
-name = "tbb"
-version = "2021.13.0"
-description = "Intel® oneAPI Threading Building Blocks (oneTBB)"
-optional = false
-python-versions = "*"
-files = [
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-    {file = "tbb-2021.13.0-py2.py3-none-manylinux1_x86_64.whl", hash = "sha256:aaf667e92849adb012b8874d6393282afc318aca4407fc62f912ee30a22da46a"},
-    {file = "tbb-2021.13.0-py3-none-win32.whl", hash = "sha256:6669d26703e9943f6164c6407bd4a237a45007e79b8d3832fe6999576eaaa9ef"},
-    {file = "tbb-2021.13.0-py3-none-win_amd64.whl", hash = "sha256:3528a53e4bbe64b07a6112b4c5a00ff3c61924ee46c9c68e004a1ac7ad1f09c3"},
-]
-
 [[package]]
 name = "termcolor"
 version = "2.4.0"
@@ -2720,44 +2688,43 @@ files = [
 
 [[package]]
 name = "torch"
-version = "2.3.1"
+version = "2.4.0"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
 optional = false
 python-versions = ">=3.8.0"
 files = [
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-    {file = "torch-2.3.1-cp310-none-macosx_11_0_arm64.whl", hash = "sha256:7c09a94362778428484bcf995f6004b04952106aee0ef45ff0b4bab484f5498d"},
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-    {file = "torch-2.3.1-cp312-cp312-win_amd64.whl", hash = "sha256:e5fdccbf6f1334b2203a61a0e03821d5845f1421defe311dabeae2fc8fbeac2d"},
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-    {file = "torch-2.3.1-cp38-none-macosx_11_0_arm64.whl", hash = "sha256:bee0bd33dc58aa8fc8a7527876e9b9a0e812ad08122054a5bff2ce5abf005b10"},
-    {file = "torch-2.3.1-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:aaa872abde9a3d4f91580f6396d54888620f4a0b92e3976a6034759df4b961ad"},
-    {file = "torch-2.3.1-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:3d7a7f7ef21a7520510553dc3938b0c57c116a7daee20736a9e25cbc0e832bdc"},
-    {file = "torch-2.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:4777f6cefa0c2b5fa87223c213e7b6f417cf254a45e5829be4ccd1b2a4ee1011"},
-    {file = "torch-2.3.1-cp39-none-macosx_11_0_arm64.whl", hash = "sha256:2bb5af780c55be68fe100feb0528d2edebace1d55cb2e351de735809ba7391eb"},
+    {file = "torch-2.4.0-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:4ed94583e244af51d6a8d28701ca5a9e02d1219e782f5a01dd401f90af17d8ac"},
+    {file = "torch-2.4.0-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:c4ca297b7bd58b506bfd6e78ffd14eb97c0e7797dcd7965df62f50bb575d8954"},
+    {file = "torch-2.4.0-cp310-cp310-win_amd64.whl", hash = "sha256:2497cbc7b3c951d69b276ca51fe01c2865db67040ac67f5fc20b03e41d16ea4a"},
+    {file = "torch-2.4.0-cp310-none-macosx_11_0_arm64.whl", hash = "sha256:685418ab93730efbee71528821ff54005596970dd497bf03c89204fb7e3f71de"},
+    {file = "torch-2.4.0-cp311-cp311-manylinux1_x86_64.whl", hash = "sha256:e743adadd8c8152bb8373543964551a7cb7cc20ba898dc8f9c0cdbe47c283de0"},
+    {file = "torch-2.4.0-cp311-cp311-manylinux2014_aarch64.whl", hash = "sha256:7334325c0292cbd5c2eac085f449bf57d3690932eac37027e193ba775703c9e6"},
+    {file = "torch-2.4.0-cp311-cp311-win_amd64.whl", hash = "sha256:97730014da4c57ffacb3c09298c6ce05400606e890bd7a05008d13dd086e46b1"},
+    {file = "torch-2.4.0-cp311-none-macosx_11_0_arm64.whl", hash = "sha256:f169b4ea6dc93b3a33319611fcc47dc1406e4dd539844dcbd2dec4c1b96e166d"},
+    {file = "torch-2.4.0-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:997084a0f9784d2a89095a6dc67c7925e21bf25dea0b3d069b41195016ccfcbb"},
+    {file = "torch-2.4.0-cp312-cp312-manylinux2014_aarch64.whl", hash = "sha256:bc3988e8b36d1e8b998d143255d9408d8c75da4ab6dd0dcfd23b623dfb0f0f57"},
+    {file = "torch-2.4.0-cp312-cp312-win_amd64.whl", hash = "sha256:3374128bbf7e62cdaed6c237bfd39809fbcfaa576bee91e904706840c3f2195c"},
+    {file = "torch-2.4.0-cp312-none-macosx_11_0_arm64.whl", hash = "sha256:91aaf00bfe1ffa44dc5b52809d9a95129fca10212eca3ac26420eb11727c6288"},
+    {file = "torch-2.4.0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:cc30457ea5489c62747d3306438af00c606b509d78822a88f804202ba63111ed"},
+    {file = "torch-2.4.0-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:a046491aaf96d1215e65e1fa85911ef2ded6d49ea34c8df4d0638879f2402eef"},
+    {file = "torch-2.4.0-cp38-cp38-win_amd64.whl", hash = "sha256:688eec9240f3ce775f22e1e1a5ab9894f3d5fe60f3f586deb7dbd23a46a83916"},
+    {file = "torch-2.4.0-cp38-none-macosx_11_0_arm64.whl", hash = "sha256:3af4de2a618fb065e78404c4ba27a818a7b7957eaeff28c6c66ce7fb504b68b8"},
+    {file = "torch-2.4.0-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:618808d3f610d5f180e47a697d4ec90b810953bb1e020f424b2ac7fb0884b545"},
+    {file = "torch-2.4.0-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:ed765d232d23566052ba83632ec73a4fccde00b4c94ad45d63b471b09d63b7a7"},
+    {file = "torch-2.4.0-cp39-cp39-win_amd64.whl", hash = "sha256:a2feb98ac470109472fb10dfef38622a7ee08482a16c357863ebc7bc7db7c8f7"},
+    {file = "torch-2.4.0-cp39-none-macosx_11_0_arm64.whl", hash = "sha256:8940fc8b97a4c61fdb5d46a368f21f4a3a562a17879e932eb51a5ec62310cb31"},
 ]
 
 [package.dependencies]
 filelock = "*"
 fsspec = "*"
 jinja2 = "*"
-mkl = {version = ">=2021.1.1,<=2021.4.0", markers = "platform_system == \"Windows\""}
 networkx = "*"
 nvidia-cublas-cu12 = {version = "12.1.3.1", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cuda-cupti-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cuda-nvrtc-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cuda-runtime-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
-nvidia-cudnn-cu12 = {version = "8.9.2.26", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cudnn-cu12 = {version = "9.1.0.70", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cufft-cu12 = {version = "11.0.2.54", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-curand-cu12 = {version = "10.3.2.106", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cusolver-cu12 = {version = "11.4.5.107", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
@@ -2765,22 +2732,22 @@ nvidia-cusparse-cu12 = {version = "12.1.0.106", markers = "platform_system == \"
 nvidia-nccl-cu12 = {version = "2.20.5", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-nvtx-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 sympy = "*"
-triton = {version = "2.3.1", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\" and python_version < \"3.12\""}
+triton = {version = "3.0.0", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\" and python_version < \"3.13\""}
 typing-extensions = ">=4.8.0"
 
 [package.extras]
 opt-einsum = ["opt-einsum (>=3.3)"]
-optree = ["optree (>=0.9.1)"]
+optree = ["optree (>=0.11.0)"]
 
 [[package]]
 name = "tqdm"
-version = "4.66.4"
+version = "4.66.5"
 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "tqdm-4.66.4-py3-none-any.whl", hash = "sha256:b75ca56b413b030bc3f00af51fd2c1a1a5eac6a0c1cca83cbb37a5c52abce644"},
-    {file = "tqdm-4.66.4.tar.gz", hash = "sha256:e4d936c9de8727928f3be6079590e97d9abfe8d39a590be678eb5919ffc186bb"},
+    {file = "tqdm-4.66.5-py3-none-any.whl", hash = "sha256:90279a3770753eafc9194a0364852159802111925aa30eb3f9d85b0e805ac7cd"},
+    {file = "tqdm-4.66.5.tar.gz", hash = "sha256:e1020aef2e5096702d8a025ac7d16b1577279c9d63f8375b63083e9a5f0fcbad"},
 ]
 
 [package.dependencies]
@@ -2794,17 +2761,21 @@ telegram = ["requests"]
 
 [[package]]
 name = "triton"
-version = "2.3.1"
+version = "3.0.0"
 description = "A language and compiler for custom Deep Learning operations"
 optional = false
 python-versions = "*"
 files = [
-    {file = "triton-2.3.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3c84595cbe5e546b1b290d2a58b1494df5a2ef066dd890655e5b8a8a92205c33"},
-    {file = "triton-2.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c9d64ae33bcb3a7a18081e3a746e8cf87ca8623ca13d2c362413ce7a486f893e"},
-    {file = "triton-2.3.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eaf80e8761a9e3498aa92e7bf83a085b31959c61f5e8ac14eedd018df6fccd10"},
-    {file = "triton-2.3.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b13bf35a2b659af7159bf78e92798dc62d877aa991de723937329e2d382f1991"},
-    {file = "triton-2.3.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:63381e35ded3304704ea867ffde3b7cfc42c16a55b3062d41e017ef510433d66"},
-    {file = "triton-2.3.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1d968264523c7a07911c8fb51b4e0d1b920204dae71491b1fe7b01b62a31e124"},
+    {file = "triton-3.0.0-1-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:e1efef76935b2febc365bfadf74bcb65a6f959a9872e5bddf44cc9e0adce1e1a"},
+    {file = "triton-3.0.0-1-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:5ce8520437c602fb633f1324cc3871c47bee3b67acf9756c1a66309b60e3216c"},
+    {file = "triton-3.0.0-1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:34e509deb77f1c067d8640725ef00c5cbfcb2052a1a3cb6a6d343841f92624eb"},
+    {file = "triton-3.0.0-1-cp38-cp38-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:bcbf3b1c48af6a28011a5c40a5b3b9b5330530c3827716b5fbf6d7adcc1e53e9"},
+    {file = "triton-3.0.0-1-cp39-cp39-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:6e5727202f7078c56f91ff13ad0c1abab14a0e7f2c87e91b12b6f64f3e8ae609"},
+    {file = "triton-3.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:39b052da883351fdf6be3d93cedae6db3b8e3988d3b09ed221bccecfa9612230"},
+    {file = "triton-3.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cd34f19a8582af96e6291d4afce25dac08cb2a5d218c599163761e8e0827208e"},
+    {file = "triton-3.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0d5e10de8c011adeb7c878c6ce0dd6073b14367749e34467f1cff2bde1b78253"},
+    {file = "triton-3.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e8903767951bf86ec960b4fe4e21bc970055afc65e9d57e916d79ae3c93665e3"},
+    {file = "triton-3.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:41004fb1ae9a53fcb3e970745feb87f0e3c94c6ce1ba86e95fa3b8537894bef7"},
 ]
 
 [package.dependencies]
@@ -2812,8 +2783,8 @@ filelock = "*"
 
 [package.extras]
 build = ["cmake (>=3.20)", "lit"]
-tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)", "torch"]
-tutorials = ["matplotlib", "pandas", "tabulate", "torch"]
+tests = ["autopep8", "flake8", "isort", "llnl-hatchet", "numpy", "pytest", "scipy (>=1.7.1)"]
+tutorials = ["matplotlib", "pandas", "tabulate"]
 
 [[package]]
 name = "typing-extensions"
@@ -2970,13 +2941,13 @@ files = [
 
 [[package]]
 name = "zipp"
-version = "3.19.2"
+version = "3.20.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
-    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
+    {file = "zipp-3.20.0-py3-none-any.whl", hash = "sha256:58da6168be89f0be59beb194da1250516fdaa062ccebd30127ac65d30045e10d"},
+    {file = "zipp-3.20.0.tar.gz", hash = "sha256:0145e43d89664cfe1a2e533adc75adafed82fe2da404b4bbb6b026c0157bdb31"},
 ]
 
 [package.extras]
diff --git a/requirements.txt b/requirements.txt
index c64fbc7..753077c 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -13,10 +13,8 @@ gitdb==4.0.11 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gitpython==3.1.43 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gym==0.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 idna==3.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-intel-openmp==2021.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 jinja2==3.1.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 markupsafe==2.1.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-mkl==2021.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 mpmath==1.3.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 networkx==3.2.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 numpy==1.26.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
@@ -24,38 +22,37 @@ nvidia-cublas-cu12==12.1.3.1 ; platform_system == "Linux" and platform_machine =
 nvidia-cuda-cupti-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cuda-nvrtc-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cuda-runtime-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-nvidia-cudnn-cu12==8.9.2.26 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cudnn-cu12==9.1.0.70 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cufft-cu12==11.0.2.54 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
-nvidia-nvjitlink-cu12==12.5.82 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-nvjitlink-cu12==12.6.20 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 pandas==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pathtools==0.1.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-protobuf==4.25.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+protobuf==4.25.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 psutil==6.0.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-pyglet==2.0.15 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pyglet==2.0.17 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pysocks==1.7.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 python-dateutil==2.9.0.post0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pytz==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-pyyaml==6.0.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pyyaml==6.0.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 requests==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 requests[socks]==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 scipy==1.13.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-sentry-sdk==2.9.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+sentry-sdk==2.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 setproctitle==1.3.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-setuptools==70.3.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+setuptools==72.1.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 six==1.16.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 smmap==5.0.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-soupsieve==2.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-sympy==1.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-tbb==2021.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
+soupsieve==2.6 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+sympy==1.13.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 termcolor==2.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-torch==2.3.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-tqdm==4.66.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-triton==2.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_full_version <= "3.11.5" and python_version >= "3.9"
+torch==2.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tqdm==4.66.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+triton==3.0.0 ; platform_system == "Linux" and platform_machine == "x86_64" and python_full_version <= "3.11.5" and python_version >= "3.9"
 typing-extensions==4.12.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 tzdata==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 urllib3==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
diff --git a/tests/test_deprl.py b/tests/test_deprl.py
index 55a5566..7548725 100644
--- a/tests/test_deprl.py
+++ b/tests/test_deprl.py
@@ -1,9 +1,9 @@
 import shutil
 import sys
 
-import gym
 import myosuite  # noqa
 import torch
+from myosuite.utils import gym
 
 import deprl
 from deprl import main, play
@@ -79,7 +79,8 @@ def step(self, action):
 
 
 if __name__ == "__main__":
-    # test_exception()
+    test_play()
     test_train()
     test_load_resume()
     test_load_no_resume()
+    test_exception()
diff --git a/tests/test_myosuite_baselines.py b/tests/test_myosuite_baselines.py
index 3fa2597..a1de4a1 100644
--- a/tests/test_myosuite_baselines.py
+++ b/tests/test_myosuite_baselines.py
@@ -1,7 +1,7 @@
-import gym
 import myosuite  # noqa
 import numpy as np
 import torch
+from myosuite.utils import gym
 
 import deprl
 
@@ -17,13 +17,14 @@ def helper_env_loop(env):
     env.seed(SEED)
     for ep in range(10):
         ret = 0
-        obs = env.reset()
+        obs = env.reset()[0]
         for i in range(2000):
             action = policy.noisy_test_step(obs)
-            obs, reward, done, _ = env.step(action)
+            obs, reward, terminated, truncated, info = env.step(action)
             # env.mj_render()
             ret += reward
             qpos.append(env.sim.data.qpos[1])
+            done = terminated or truncated
             if done:
                 break
         returns.append(ret)

From 7d3051b096ecbbf5a39c008623cfc1bb68afb02e Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 14:58:00 -0400
Subject: [PATCH 22/31] changed dependencies

---
 poetry.lock | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/poetry.lock b/poetry.lock
index 934f9ac..5a73de4 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.5.0 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"

From db0e2951c63eae630426d04ecb084460c7e1ad6b Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 15:04:32 -0400
Subject: [PATCH 23/31] enabled windows tests

---
 .github/workflows/python-app.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/python-app.yml b/.github/workflows/python-app.yml
index 1c9e716..b0d4b23 100644
--- a/.github/workflows/python-app.yml
+++ b/.github/workflows/python-app.yml
@@ -32,7 +32,7 @@ jobs:
     strategy:
       matrix:
         os:
-          # - windows-latest
+          - windows-latest
           # - macos-latest
           - ubuntu-latest
 

From 061674b2ddf97835e51abe02087e3bbb62054517 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 15:15:14 -0400
Subject: [PATCH 24/31] print path when reloading

---
 deprl/vendor/tonic/utils/logger.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/deprl/vendor/tonic/utils/logger.py b/deprl/vendor/tonic/utils/logger.py
index db8ac01..a637d32 100644
--- a/deprl/vendor/tonic/utils/logger.py
+++ b/deprl/vendor/tonic/utils/logger.py
@@ -52,7 +52,7 @@ def create_resumed_results_path(config, env):
         postfix = f".{env.unwrapped.model.name()}"
     folders = [x for x in os.walk(path)]
     if len(folders) != 0:
-        log("Found earlier run, continuing training.")
+        log("Found earlier run, continuing training: Path is: {path}")
         folder = get_sorted_folders(folders[0][1])[-1]
         return os.path.join(path, folder)
     else:

From 0fbd06e390cf771e4c8e1be39c344a8f4ac7cf85 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <schumacherpier@gmail.com>
Date: Thu, 11 Jul 2024 15:25:44 -0400
Subject: [PATCH 25/31] print path when reloading

---
 deprl/vendor/tonic/utils/logger.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/deprl/vendor/tonic/utils/logger.py b/deprl/vendor/tonic/utils/logger.py
index a637d32..54d9c5b 100644
--- a/deprl/vendor/tonic/utils/logger.py
+++ b/deprl/vendor/tonic/utils/logger.py
@@ -52,7 +52,7 @@ def create_resumed_results_path(config, env):
         postfix = f".{env.unwrapped.model.name()}"
     folders = [x for x in os.walk(path)]
     if len(folders) != 0:
-        log("Found earlier run, continuing training: Path is: {path}")
+        log(f"Found earlier run, continuing training: Path is: {path}")
         folder = get_sorted_folders(folders[0][1])[-1]
         return os.path.join(path, folder)
     else:

From 3f9599660c4d7a672f2d1d27ced635188bbbd0ee Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Wed, 14 Aug 2024 09:30:28 +0200
Subject: [PATCH 26/31] further compat changes for gymnasium update;

---
 deprl/dep_controller.py                       |    2 +-
 deprl/env_wrappers/wrappers.py                |    2 +-
 deprl/vendor/tonic/environments/builders.py   |    6 +-
 deprl/vendor/tonic/environments/wrappers.py   |    2 +-
 examples/example_load_baseline_myosuite.py    |    7 +-
 examples/example_only_dep_myosuite.py         |    2 +-
 poetry.lock                                   | 2960 -----------------
 pyproject.toml                                |    2 +-
 tests/test_files/test_settings.json           |    2 +-
 tests/test_files/test_settings_load.json      |    2 +-
 .../test_settings_load_no_resume.json         |    2 +-
 .../test_files/test_settings_load_resume.json |    2 +-
 12 files changed, 16 insertions(+), 2975 deletions(-)
 delete mode 100644 poetry.lock

diff --git a/deprl/dep_controller.py b/deprl/dep_controller.py
index 1cc80f5..7569ae7 100644
--- a/deprl/dep_controller.py
+++ b/deprl/dep_controller.py
@@ -2,7 +2,7 @@
 import os
 from collections import deque
 
-import gym
+import gymnasium as gym
 import torch
 
 torch.set_default_dtype(torch.float32)
diff --git a/deprl/env_wrappers/wrappers.py b/deprl/env_wrappers/wrappers.py
index 31d3521..e49eaef 100644
--- a/deprl/env_wrappers/wrappers.py
+++ b/deprl/env_wrappers/wrappers.py
@@ -1,6 +1,6 @@
 from abc import ABC, abstractmethod
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 import deprl  # noqa
diff --git a/deprl/vendor/tonic/environments/builders.py b/deprl/vendor/tonic/environments/builders.py
index bc1e540..f062afa 100644
--- a/deprl/vendor/tonic/environments/builders.py
+++ b/deprl/vendor/tonic/environments/builders.py
@@ -3,7 +3,7 @@
 import os
 from types import SimpleNamespace
 
-import gym.wrappers
+from gymnasium import wrappers
 import numpy as np
 
 try:
@@ -55,7 +55,7 @@ def _builder(name, *args, **kwargs):
         environment.spec = SimpleNamespace(
             max_episode_steps=time_limit, id="ostrichrl-dmcontrol"
         )
-        return gym.wrappers.TimeLimit(environment, time_limit)
+        return wrappers.TimeLimit(environment, time_limit)
 
     return build_environment(_builder, *args, **kwargs, header=None)
 
@@ -97,7 +97,7 @@ def build_environment(
 
     # Remove the TimeLimit wrapper if needed.
     if not terminal_timeouts:
-        if type(environment) == gym.wrappers.TimeLimit:
+        if type(environment) == wrappers.TimeLimit:
             environment = environment.env
 
     # Add time as a feature if needed.
diff --git a/deprl/vendor/tonic/environments/wrappers.py b/deprl/vendor/tonic/environments/wrappers.py
index 2859221..f188741 100644
--- a/deprl/vendor/tonic/environments/wrappers.py
+++ b/deprl/vendor/tonic/environments/wrappers.py
@@ -1,6 +1,6 @@
 """Environment wrappers."""
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 
diff --git a/examples/example_load_baseline_myosuite.py b/examples/example_load_baseline_myosuite.py
index 92f3c66..20b71f6 100644
--- a/examples/example_load_baseline_myosuite.py
+++ b/examples/example_load_baseline_myosuite.py
@@ -5,23 +5,25 @@
 
 import myosuite  # noqa
 from myosuite.utils import gym
+from deprl import env_wrappers
 
 import deprl
 
 env = gym.make("myoLegWalk-v0", reset_type="random")
+env = env_wrappers.GymWrapper(env)
 policy = deprl.load_baseline(env)
 
 env.seed(0)
 for ep in range(10):
     ep_steps = 0
     ep_tot_reward = 0
-    state, _ = env.reset()
+    state = env.reset()
 
     while True:
         # samples random action
         action = policy(state)
         # applies action and advances environment by one step
-        state, reward, terminated, truncated, info = env.step(action)
+        state, reward, done, info = env.step(action)
 
         ep_steps += 1
         ep_tot_reward += reward
@@ -29,7 +31,6 @@
         time.sleep(0.01)
 
         # check if done
-        done = terminated or truncated
         if done or (ep_steps >= 1000):
             print(
                 f"Episode {ep} ending; steps={ep_steps}; reward={ep_tot_reward:0.3f};"
diff --git a/examples/example_only_dep_myosuite.py b/examples/example_only_dep_myosuite.py
index 73ea39e..97cffae 100644
--- a/examples/example_only_dep_myosuite.py
+++ b/examples/example_only_dep_myosuite.py
@@ -1,7 +1,7 @@
 import time
 
-import gym
 import myosuite  # noqa
+from myosuite.utils import gym
 
 from deprl import env_wrappers
 from deprl.dep_controller import DEP
diff --git a/poetry.lock b/poetry.lock
deleted file mode 100644
index 5a73de4..0000000
--- a/poetry.lock
+++ /dev/null
@@ -1,2960 +0,0 @@
-# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
-
-[[package]]
-name = "absl-py"
-version = "2.1.0"
-description = "Abseil Python Common Libraries, see https://github.com/abseil/abseil-py."
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "absl-py-2.1.0.tar.gz", hash = "sha256:7820790efbb316739cde8b4e19357243fc3608a152024288513dd968d7d959ff"},
-    {file = "absl_py-2.1.0-py3-none-any.whl", hash = "sha256:526a04eadab8b4ee719ce68f204172ead1027549089702d99b9059f129ff1308"},
-]
-
-[[package]]
-name = "alabaster"
-version = "0.7.16"
-description = "A light, configurable Sphinx theme"
-optional = false
-python-versions = ">=3.9"
-files = [
-    {file = "alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92"},
-    {file = "alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65"},
-]
-
-[[package]]
-name = "appdirs"
-version = "1.4.4"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-optional = false
-python-versions = "*"
-files = [
-    {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
-    {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
-]
-
-[[package]]
-name = "babel"
-version = "2.16.0"
-description = "Internationalization utilities"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "babel-2.16.0-py3-none-any.whl", hash = "sha256:368b5b98b37c06b7daf6696391c3240c938b37767d4584413e8438c5c435fa8b"},
-    {file = "babel-2.16.0.tar.gz", hash = "sha256:d1f3554ca26605fe173f3de0c65f750f5a42f924499bf134de6423582298e316"},
-]
-
-[package.extras]
-dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
-
-[[package]]
-name = "beautifulsoup4"
-version = "4.12.3"
-description = "Screen-scraping library"
-optional = false
-python-versions = ">=3.6.0"
-files = [
-    {file = "beautifulsoup4-4.12.3-py3-none-any.whl", hash = "sha256:b80878c9f40111313e55da8ba20bdba06d8fa3969fc68304167741bbf9e082ed"},
-    {file = "beautifulsoup4-4.12.3.tar.gz", hash = "sha256:74e3d1928edc070d21748185c46e3fb33490f22f52a3addee9aee0f4f7781051"},
-]
-
-[package.dependencies]
-soupsieve = ">1.2"
-
-[package.extras]
-cchardet = ["cchardet"]
-chardet = ["chardet"]
-charset-normalizer = ["charset-normalizer"]
-html5lib = ["html5lib"]
-lxml = ["lxml"]
-
-[[package]]
-name = "certifi"
-version = "2024.7.4"
-description = "Python package for providing Mozilla's CA Bundle."
-optional = false
-python-versions = ">=3.6"
-files = [
-    {file = "certifi-2024.7.4-py3-none-any.whl", hash = "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90"},
-    {file = "certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b"},
-]
-
-[[package]]
-name = "cfgv"
-version = "3.4.0"
-description = "Validate configuration and produce human readable error messages."
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "cfgv-3.4.0-py2.py3-none-any.whl", hash = "sha256:b7265b1f29fd3316bfcd2b330d63d024f2bfd8bcb8b0272f8e19a504856c48f9"},
-    {file = "cfgv-3.4.0.tar.gz", hash = "sha256:e52591d4c5f5dead8e0f673fb16db7949d2cfb3f7da4582893288f0ded8fe560"},
-]
-
-[[package]]
-name = "charset-normalizer"
-version = "3.3.2"
-description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
-optional = false
-python-versions = ">=3.7.0"
-files = [
-    {file = "charset-normalizer-3.3.2.tar.gz", hash = "sha256:f30c3cb33b24454a82faecaf01b19c18562b1e89558fb6c56de4d9118a032fd5"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:25baf083bf6f6b341f4121c2f3c548875ee6f5339300e08be3f2b2ba1721cdd3"},
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-    {file = "triton-3.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e8903767951bf86ec960b4fe4e21bc970055afc65e9d57e916d79ae3c93665e3"},
-    {file = "triton-3.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:41004fb1ae9a53fcb3e970745feb87f0e3c94c6ce1ba86e95fa3b8537894bef7"},
-]
-
-[package.dependencies]
-filelock = "*"
-
-[package.extras]
-build = ["cmake (>=3.20)", "lit"]
-tests = ["autopep8", "flake8", "isort", "llnl-hatchet", "numpy", "pytest", "scipy (>=1.7.1)"]
-tutorials = ["matplotlib", "pandas", "tabulate"]
-
-[[package]]
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-version = "4.12.2"
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-optional = false
-python-versions = ">=3.8"
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-[[package]]
-name = "tzdata"
-version = "2024.1"
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-optional = false
-python-versions = ">=2"
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-
-[[package]]
-name = "urllib3"
-version = "2.2.2"
-description = "HTTP library with thread-safe connection pooling, file post, and more."
-optional = false
-python-versions = ">=3.8"
-files = [
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-]
-
-[package.extras]
-brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
-h2 = ["h2 (>=4,<5)"]
-socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
-zstd = ["zstandard (>=0.18.0)"]
-
-[[package]]
-name = "urwid"
-version = "2.6.15"
-description = "A full-featured console (xterm et al.) user interface library"
-optional = false
-python-versions = ">3.7"
-files = [
-    {file = "urwid-2.6.15-py3-none-any.whl", hash = "sha256:71b3171cabaa0092902f556768756bd2f2ebb24c0da287ee08f081d235340cb7"},
-    {file = "urwid-2.6.15.tar.gz", hash = "sha256:9ecc57330d88c8d9663ffd7092a681674c03ff794b6330ccfef479af7aa9671b"},
-]
-
-[package.dependencies]
-typing-extensions = "*"
-wcwidth = "*"
-
-[package.extras]
-curses = ["windows-curses"]
-glib = ["PyGObject"]
-lcd = ["pyserial"]
-serial = ["pyserial"]
-tornado = ["tornado (>=5.0)"]
-trio = ["exceptiongroup", "trio (>=0.22.0)"]
-twisted = ["twisted"]
-zmq = ["zmq"]
-
-[[package]]
-name = "urwid-readline"
-version = "0.14"
-description = "A textbox edit widget for urwid that supports readline shortcuts"
-optional = false
-python-versions = "*"
-files = [
-    {file = "urwid_readline-0.14.tar.gz", hash = "sha256:8fabd2e501c124a30d38cfb10610b32f119a615ec0b310ae5591c583fb00bd09"},
-]
-
-[package.dependencies]
-urwid = "*"
-
-[package.extras]
-dev = ["black", "pytest"]
-
-[[package]]
-name = "virtualenv"
-version = "20.26.3"
-description = "Virtual Python Environment builder"
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589"},
-    {file = "virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a"},
-]
-
-[package.dependencies]
-distlib = ">=0.3.7,<1"
-filelock = ">=3.12.2,<4"
-platformdirs = ">=3.9.1,<5"
-
-[package.extras]
-docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2,!=7.3)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
-test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
-
-[[package]]
-name = "wandb"
-version = "0.15.12"
-description = "A CLI and library for interacting with the Weights & Biases API."
-optional = false
-python-versions = ">=3.6"
-files = [
-    {file = "wandb-0.15.12-py3-none-any.whl", hash = "sha256:75c57b5bb8ddae21d45a02f644628585bdd112fea686de3177099a0996f1c41c"},
-    {file = "wandb-0.15.12.tar.gz", hash = "sha256:c344d92fb8044b072a6138afd9adc5d3801ad050cf11378fe2af2fe899dcca84"},
-]
-
-[package.dependencies]
-appdirs = ">=1.4.3"
-Click = ">=7.1,<8.0.0 || >8.0.0"
-docker-pycreds = ">=0.4.0"
-GitPython = ">=1.0.0,<3.1.29 || >3.1.29"
-pathtools = "*"
-protobuf = [
-    {version = ">=3.15.0,<4.21.0 || >4.21.0,<5", markers = "python_version == \"3.9\" and sys_platform == \"linux\""},
-    {version = ">=3.19.0,<4.21.0 || >4.21.0,<5", markers = "python_version > \"3.9\" or sys_platform != \"linux\""},
-]
-psutil = ">=5.0.0"
-PyYAML = "*"
-requests = ">=2.0.0,<3"
-sentry-sdk = ">=1.0.0"
-setproctitle = "*"
-setuptools = "*"
-typing-extensions = {version = "*", markers = "python_version < \"3.10\""}
-
-[package.extras]
-async = ["httpx (>=0.22.0)"]
-aws = ["boto3"]
-azure = ["azure-identity", "azure-storage-blob"]
-gcp = ["google-cloud-storage"]
-kubeflow = ["google-cloud-storage", "kubernetes", "minio", "sh"]
-launch = ["PyYAML (>=6.0.0)", "awscli", "azure-containerregistry", "azure-identity", "azure-storage-blob", "boto3", "botocore", "chardet", "google-auth", "google-cloud-artifact-registry", "google-cloud-compute", "google-cloud-storage", "iso8601", "kubernetes", "nbconvert", "nbformat", "optuna", "typing-extensions"]
-media = ["bokeh", "moviepy", "numpy", "pillow", "plotly", "rdkit-pypi", "soundfile"]
-models = ["cloudpickle"]
-nexus = ["wandb-core (>=0.16.0b1)"]
-perf = ["orjson"]
-sweeps = ["sweeps (>=0.2.0)"]
-
-[[package]]
-name = "wcwidth"
-version = "0.2.13"
-description = "Measures the displayed width of unicode strings in a terminal"
-optional = false
-python-versions = "*"
-files = [
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-]
-
-[[package]]
-name = "zipp"
-version = "3.20.0"
-description = "Backport of pathlib-compatible object wrapper for zip files"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "zipp-3.20.0-py3-none-any.whl", hash = "sha256:58da6168be89f0be59beb194da1250516fdaa062ccebd30127ac65d30045e10d"},
-    {file = "zipp-3.20.0.tar.gz", hash = "sha256:0145e43d89664cfe1a2e533adc75adafed82fe2da404b4bbb6b026c0157bdb31"},
-]
-
-[package.extras]
-doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
-
-[metadata]
-lock-version = "2.0"
-python-versions = ">=3.9, <=3.11.5"
-content-hash = "c230a92887cc37a9a360f2d8555642c17f8f210ef1888b243bbdce8cdcb884c2"
diff --git a/pyproject.toml b/pyproject.toml
index 363b8e2..8a20849 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,7 +14,7 @@ numpy = "^1.22.4"
 termcolor = "^2.2.0"
 pandas = "^2.0.1"
 gdown = "^5.1.0"
-gym = "0.13.0"
+gymnasium = "*"
 wandb = "^0.15.4"
 # torch = {version="2.1.0", source="pytorch-cpu"}
 torch = ">=2.1.0"
diff --git a/tests/test_files/test_settings.json b/tests/test_files/test_settings.json
index 75440b6..16a80fd 100644
--- a/tests/test_files/test_settings.json
+++ b/tests/test_files/test_settings.json
@@ -1,7 +1,7 @@
 
 {
  "tonic": {
-    "header": "import deprl, gym, myosuite",
+    "header": "import deprl, myosuite; from myosuite.utils import gym",
     "agent": "deprl.custom_agents.dep_factory(3, deprl.custom_mpo_torch.TunedMPO())(replay=deprl.replays.buffers.Buffer(return_steps=3, batch_size=256, steps_between_batches=1000, batch_iterations=30, steps_before_batches=2e5, size=int(1e4)))",
     "environment": "deprl.environments.Gym('myoLegWalk-v0', scaled_actions=False, reset_type='random')",
     "trainer": "deprl.custom_trainer.Trainer(steps=int(2e3), epoch_steps=int(1e3), save_steps=int(1e3))",
diff --git a/tests/test_files/test_settings_load.json b/tests/test_files/test_settings_load.json
index a1f2b24..3729354 100644
--- a/tests/test_files/test_settings_load.json
+++ b/tests/test_files/test_settings_load.json
@@ -1,7 +1,7 @@
 
 {
  "tonic": {
-    "header": "import deprl, gym, myosuite",
+    "header": "import deprl, myosuite; from myosuite.utils import gym",
     "agent": "deprl.custom_agents.dep_factory(3, deprl.custom_mpo_torch.TunedMPO())(replay=deprl.replays.buffers.Buffer(return_steps=3, batch_size=256, steps_between_batches=1000, batch_iterations=30, steps_before_batches=2e5, size=int(1e4)))",
     "environment": "deprl.environments.Gym('myoLegWalk-v0', scaled_actions=False, reset_type='random')",
     "trainer": "deprl.custom_trainer.Trainer(steps=int(3e3), epoch_steps=int(1e3), save_steps=int(1e3))",
diff --git a/tests/test_files/test_settings_load_no_resume.json b/tests/test_files/test_settings_load_no_resume.json
index b5bea91..bdbdd25 100644
--- a/tests/test_files/test_settings_load_no_resume.json
+++ b/tests/test_files/test_settings_load_no_resume.json
@@ -1,7 +1,7 @@
 
 {
  "tonic": {
-    "header": "import deprl, gym, myosuite",
+    "header": "import deprl, myosuite; from myosuite.utils import gym",
     "agent": "deprl.custom_agents.dep_factory(3, deprl.custom_mpo_torch.TunedMPO())(replay=deprl.replays.buffers.Buffer(return_steps=3, batch_size=256, steps_between_batches=1000, batch_iterations=30, steps_before_batches=2e5, size=int(1e4)))",
     "environment": "deprl.environments.Gym('myoLegWalk-v0', scaled_actions=False, reset_type='random')",
     "trainer": "deprl.custom_trainer.Trainer(steps=int(3e3), epoch_steps=int(1e3), save_steps=int(1e3))",
diff --git a/tests/test_files/test_settings_load_resume.json b/tests/test_files/test_settings_load_resume.json
index ae50614..a7df847 100644
--- a/tests/test_files/test_settings_load_resume.json
+++ b/tests/test_files/test_settings_load_resume.json
@@ -1,7 +1,7 @@
 
 {
  "tonic": {
-    "header": "import deprl, gym, myosuite",
+    "header": "import deprl, myosuite; from myosuite.utils import gym",
     "agent": "deprl.custom_agents.dep_factory(3, deprl.custom_mpo_torch.TunedMPO())(replay=deprl.replays.buffers.Buffer(return_steps=3, batch_size=256, steps_between_batches=1000, batch_iterations=30, steps_before_batches=2e5, size=int(1e4)))",
     "environment": "deprl.environments.Gym('myoLegWalk-v0', scaled_actions=False, reset_type='random')",
     "trainer": "deprl.custom_trainer.Trainer(steps=int(3e3), epoch_steps=int(1e3), save_steps=int(1e3))",

From 294bb2c24c66439a909ebdb48de049fdef3bd884 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Wed, 14 Aug 2024 09:31:17 +0200
Subject: [PATCH 27/31] ran pre-commit

---
 deprl/log.py                                | 2 +-
 deprl/vendor/tonic/environments/builders.py | 2 +-
 examples/example_load_baseline_myosuite.py  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/deprl/log.py b/deprl/log.py
index 9ab9b3b..a3a1035 100644
--- a/deprl/log.py
+++ b/deprl/log.py
@@ -2,9 +2,9 @@
 import os
 import time
 
-import wandb
 import yaml
 
+import wandb
 from deprl.vendor.tonic import utils
 
 
diff --git a/deprl/vendor/tonic/environments/builders.py b/deprl/vendor/tonic/environments/builders.py
index f062afa..ca343f6 100644
--- a/deprl/vendor/tonic/environments/builders.py
+++ b/deprl/vendor/tonic/environments/builders.py
@@ -3,8 +3,8 @@
 import os
 from types import SimpleNamespace
 
-from gymnasium import wrappers
 import numpy as np
+from gymnasium import wrappers
 
 try:
     from myosuite.utils import gym
diff --git a/examples/example_load_baseline_myosuite.py b/examples/example_load_baseline_myosuite.py
index 20b71f6..766ebeb 100644
--- a/examples/example_load_baseline_myosuite.py
+++ b/examples/example_load_baseline_myosuite.py
@@ -5,9 +5,9 @@
 
 import myosuite  # noqa
 from myosuite.utils import gym
-from deprl import env_wrappers
 
 import deprl
+from deprl import env_wrappers
 
 env = gym.make("myoLegWalk-v0", reset_type="random")
 env = env_wrappers.GymWrapper(env)

From ec76e701fe6066910fc251834ad2d6a8e0dc843c Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Wed, 14 Aug 2024 09:46:12 +0200
Subject: [PATCH 28/31] updated dependencies

---
 poetry.lock      | 793 +++++++++++++++++++++--------------------------
 pyproject.toml   |   2 +-
 requirements.txt |  19 +-
 3 files changed, 368 insertions(+), 446 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 380102e..b621f9f 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.5.0 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -35,13 +35,13 @@ files = [
 
 [[package]]
 name = "babel"
-version = "2.15.0"
+version = "2.16.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb"},
-    {file = "babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413"},
+    {file = "babel-2.16.0-py3-none-any.whl", hash = "sha256:368b5b98b37c06b7daf6696391c3240c938b37767d4584413e8438c5c435fa8b"},
+    {file = "babel-2.16.0.tar.gz", hash = "sha256:d1f3554ca26605fe173f3de0c65f750f5a42f924499bf134de6423582298e316"},
 ]
 
 [package.extras]
@@ -205,13 +205,13 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
 [[package]]
 name = "cloudpickle"
-version = "1.2.2"
-description = "Extended pickling support for Python objects"
+version = "3.0.0"
+description = "Pickler class to extend the standard pickle.Pickler functionality"
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
-    {file = "cloudpickle-1.2.2-py2.py3-none-any.whl", hash = "sha256:f3ef2c9d438f1553ce7795afb18c1f190d8146132496169ef6aa9b7b65caa4c3"},
-    {file = "cloudpickle-1.2.2.tar.gz", hash = "sha256:922401d7140e133253ff5fab4faa4a1166416066453a783b00b507dca93f8859"},
+    {file = "cloudpickle-3.0.0-py3-none-any.whl", hash = "sha256:246ee7d0c295602a036e86369c77fecda4ab17b506496730f2f576d9016fd9c7"},
+    {file = "cloudpickle-3.0.0.tar.gz", hash = "sha256:996d9a482c6fb4f33c1a35335cf8afd065d2a56e973270364840712d9131a882"},
 ]
 
 [[package]]
@@ -385,13 +385,6 @@ files = [
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     {file = "dm_tree-0.1.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:83b7764de0d855338abefc6e3ee9fe40d301668310aa3baea3f778ff051f4393"},
     {file = "dm_tree-0.1.8-cp311-cp311-win_amd64.whl", hash = "sha256:a5d819c38c03f0bb5b3b3703c60e4b170355a0fc6b5819325bf3d4ceb3ae7e80"},
-    {file = "dm_tree-0.1.8-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:ea9e59e0451e7d29aece402d9f908f2e2a80922bcde2ebfd5dcb07750fcbfee8"},
-    {file = "dm_tree-0.1.8-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:94d3f0826311f45ee19b75f5b48c99466e4218a0489e81c0f0167bda50cacf22"},
-    {file = "dm_tree-0.1.8-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:435227cf3c5dc63f4de054cf3d00183790bd9ead4c3623138c74dde7f67f521b"},
-    {file = "dm_tree-0.1.8-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:09964470f76a5201aff2e8f9b26842976de7889300676f927930f6285e256760"},
-    {file = "dm_tree-0.1.8-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:75c5d528bb992981c20793b6b453e91560784215dffb8a5440ba999753c14ceb"},
-    {file = "dm_tree-0.1.8-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c0a94aba18a35457a1b5cd716fd7b46c5dafdc4cf7869b4bae665b91c4682a8e"},
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@@ -480,13 +473,13 @@ lazy-imports = ["etils[ecolab]"]
 
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-version = "1.2.1"
+version = "1.2.2"
 description = "Backport of PEP 654 (exception groups)"
 optional = false
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 [package.extras]
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-description = "The OpenAI Gym: A toolkit for developing and comparing your reinforcement learning agents."
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 version = "0.29.1"
@@ -836,13 +805,13 @@ files = [
 
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+version = "8.2.0"
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 version = "0.19.1"
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 htmlsoup = ["BeautifulSoup4"]
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 ]
 
 [package.dependencies]
@@ -1369,24 +1331,6 @@ python-dateutil = ">=2.7"
 [package.extras]
 dev = ["meson-python (>=0.13.1)", "numpy (>=1.25)", "pybind11 (>=2.6)", "setuptools (>=64)", "setuptools_scm (>=7)"]
 
-[[package]]
-name = "mkl"
-version = "2021.4.0"
-description = "Intel® oneAPI Math Kernel Library"
-optional = false
-python-versions = "*"
-files = [
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-
-[package.dependencies]
-intel-openmp = "==2021.*"
-tbb = "==2021.*"
-
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -1448,13 +1392,13 @@ pyopengl = "*"
 
 [[package]]
 name = "myosuite"
-version = "2.4.0"
+version = "2.5.0"
 description = "Musculoskeletal environments simulated in MuJoCo"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1592,12 +1536,13 @@ files = [
 
 [[package]]
 name = "nvidia-cudnn-cu12"
-version = "8.9.2.26"
+version = "9.1.0.70"
 description = "cuDNN runtime libraries"
 optional = false
 python-versions = ">=3"
 files = [
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 ]
 
 [package.dependencies]
@@ -1668,13 +1613,14 @@ files = [
 
 [[package]]
 name = "nvidia-nvjitlink-cu12"
-version = "12.5.82"
+version = "12.6.20"
 description = "Nvidia JIT LTO Library"
 optional = false
 python-versions = ">=3"
 files = [
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 ]
 
 [[package]]
@@ -1940,13 +1886,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "pre-commit"
-version = "3.7.1"
+version = "3.8.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.dependencies]
@@ -1958,22 +1904,22 @@ virtualenv = ">=20.10.0"
 
 [[package]]
 name = "protobuf"
-version = "4.25.3"
+version = "4.25.4"
 description = ""
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [[package]]
@@ -2007,13 +1953,13 @@ test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
 [[package]]
 name = "pudb"
-version = "2024.1.1"
+version = "2024.1.2"
 description = "A full-screen, console-based Python debugger"
 optional = false
 python-versions = "~=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -2026,17 +1972,6 @@ urwid-readline = "*"
 [package.extras]
 completion = ["shtab"]
 
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-version = "2.0.15"
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-
 [[package]]
 name = "pygments"
 version = "2.18.0"
@@ -2137,62 +2072,64 @@ files = [
 
 [[package]]
 name = "pyyaml"
-version = "6.0.1"
+version = "6.0.2"
 description = "YAML parser and emitter for Python"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
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 [[package]]
@@ -2261,13 +2198,13 @@ test = ["array-api-strict", "asv", "gmpy2", "hypothesis (>=6.30)", "mpmath", "po
 
 [[package]]
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 [package.dependencies]
@@ -2294,10 +2231,11 @@ httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
 huggingface-hub = ["huggingface-hub (>=0.22)"]
 langchain = ["langchain (>=0.0.210)"]
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 loguru = ["loguru (>=0.5)"]
 openai = ["openai (>=1.0.0)", "tiktoken (>=0.3.0)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
-opentelemetry-experimental = ["opentelemetry-instrumentation-aio-pika (==0.46b0)", "opentelemetry-instrumentation-aiohttp-client (==0.46b0)", "opentelemetry-instrumentation-aiopg (==0.46b0)", "opentelemetry-instrumentation-asgi (==0.46b0)", "opentelemetry-instrumentation-asyncio (==0.46b0)", "opentelemetry-instrumentation-asyncpg (==0.46b0)", "opentelemetry-instrumentation-aws-lambda (==0.46b0)", "opentelemetry-instrumentation-boto (==0.46b0)", "opentelemetry-instrumentation-boto3sqs (==0.46b0)", "opentelemetry-instrumentation-botocore (==0.46b0)", "opentelemetry-instrumentation-cassandra (==0.46b0)", "opentelemetry-instrumentation-celery (==0.46b0)", "opentelemetry-instrumentation-confluent-kafka (==0.46b0)", "opentelemetry-instrumentation-dbapi (==0.46b0)", "opentelemetry-instrumentation-django (==0.46b0)", "opentelemetry-instrumentation-elasticsearch (==0.46b0)", "opentelemetry-instrumentation-falcon (==0.46b0)", "opentelemetry-instrumentation-fastapi (==0.46b0)", "opentelemetry-instrumentation-flask (==0.46b0)", "opentelemetry-instrumentation-grpc (==0.46b0)", "opentelemetry-instrumentation-httpx (==0.46b0)", "opentelemetry-instrumentation-jinja2 (==0.46b0)", "opentelemetry-instrumentation-kafka-python (==0.46b0)", "opentelemetry-instrumentation-logging (==0.46b0)", "opentelemetry-instrumentation-mysql (==0.46b0)", "opentelemetry-instrumentation-mysqlclient (==0.46b0)", "opentelemetry-instrumentation-pika (==0.46b0)", "opentelemetry-instrumentation-psycopg (==0.46b0)", "opentelemetry-instrumentation-psycopg2 (==0.46b0)", "opentelemetry-instrumentation-pymemcache (==0.46b0)", "opentelemetry-instrumentation-pymongo (==0.46b0)", "opentelemetry-instrumentation-pymysql (==0.46b0)", "opentelemetry-instrumentation-pyramid (==0.46b0)", "opentelemetry-instrumentation-redis (==0.46b0)", "opentelemetry-instrumentation-remoulade (==0.46b0)", "opentelemetry-instrumentation-requests (==0.46b0)", "opentelemetry-instrumentation-sklearn (==0.46b0)", "opentelemetry-instrumentation-sqlalchemy (==0.46b0)", "opentelemetry-instrumentation-sqlite3 (==0.46b0)", "opentelemetry-instrumentation-starlette (==0.46b0)", "opentelemetry-instrumentation-system-metrics (==0.46b0)", "opentelemetry-instrumentation-threading (==0.46b0)", "opentelemetry-instrumentation-tornado (==0.46b0)", "opentelemetry-instrumentation-tortoiseorm (==0.46b0)", "opentelemetry-instrumentation-urllib (==0.46b0)", "opentelemetry-instrumentation-urllib3 (==0.46b0)", "opentelemetry-instrumentation-wsgi (==0.46b0)"]
+opentelemetry-experimental = ["opentelemetry-distro"]
 pure-eval = ["asttokens", "executing", "pure-eval"]
 pymongo = ["pymongo (>=3.1)"]
 pyspark = ["pyspark (>=2.4.4)"]
@@ -2411,18 +2349,19 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "70.3.0"
+version = "72.2.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier", "towncrier (<24.7)"]
+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.11.*)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (<0.4)", "pytest-ruff (>=0.2.1)", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "six"
@@ -2474,13 +2413,13 @@ files = [
 
 [[package]]
 name = "soupsieve"
-version = "2.5"
+version = "2.6"
 description = "A modern CSS selector implementation for Beautiful Soup."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [[package]]
@@ -2557,49 +2496,49 @@ dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.8"
+version = "2.0.0"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
 python-versions = ">=3.9"
 files = [
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 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.6"
+version = "2.0.0"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
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 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.5"
+version = "2.1.0"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
 python-versions = ">=3.9"
 files = [
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 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["html5lib", "pytest"]
 
@@ -2633,45 +2572,45 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.7"
+version = "2.0.0"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
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 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
-test = ["pytest"]
+test = ["defusedxml (>=0.7.1)", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.10"
+version = "2.0.0"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sympy"
-version = "1.13.0"
+version = "1.13.2"
 description = "Computer algebra system (CAS) in Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
@@ -2680,19 +2619,6 @@ mpmath = ">=1.1.0,<1.4"
 [package.extras]
 dev = ["hypothesis (>=6.70.0)", "pytest (>=7.1.0)"]
 
-[[package]]
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-description = "Intel® oneAPI Threading Building Blocks (oneTBB)"
-optional = false
-python-versions = "*"
-files = [
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-]
-
 [[package]]
 name = "termcolor"
 version = "2.4.0"
@@ -2720,44 +2646,43 @@ files = [
 
 [[package]]
 name = "torch"
-version = "2.3.1"
+version = "2.4.0"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
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 python-versions = ">=3.8.0"
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+    {file = "torch-2.4.0-cp310-cp310-win_amd64.whl", hash = "sha256:2497cbc7b3c951d69b276ca51fe01c2865db67040ac67f5fc20b03e41d16ea4a"},
+    {file = "torch-2.4.0-cp310-none-macosx_11_0_arm64.whl", hash = "sha256:685418ab93730efbee71528821ff54005596970dd497bf03c89204fb7e3f71de"},
+    {file = "torch-2.4.0-cp311-cp311-manylinux1_x86_64.whl", hash = "sha256:e743adadd8c8152bb8373543964551a7cb7cc20ba898dc8f9c0cdbe47c283de0"},
+    {file = "torch-2.4.0-cp311-cp311-manylinux2014_aarch64.whl", hash = "sha256:7334325c0292cbd5c2eac085f449bf57d3690932eac37027e193ba775703c9e6"},
+    {file = "torch-2.4.0-cp311-cp311-win_amd64.whl", hash = "sha256:97730014da4c57ffacb3c09298c6ce05400606e890bd7a05008d13dd086e46b1"},
+    {file = "torch-2.4.0-cp311-none-macosx_11_0_arm64.whl", hash = "sha256:f169b4ea6dc93b3a33319611fcc47dc1406e4dd539844dcbd2dec4c1b96e166d"},
+    {file = "torch-2.4.0-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:997084a0f9784d2a89095a6dc67c7925e21bf25dea0b3d069b41195016ccfcbb"},
+    {file = "torch-2.4.0-cp312-cp312-manylinux2014_aarch64.whl", hash = "sha256:bc3988e8b36d1e8b998d143255d9408d8c75da4ab6dd0dcfd23b623dfb0f0f57"},
+    {file = "torch-2.4.0-cp312-cp312-win_amd64.whl", hash = "sha256:3374128bbf7e62cdaed6c237bfd39809fbcfaa576bee91e904706840c3f2195c"},
+    {file = "torch-2.4.0-cp312-none-macosx_11_0_arm64.whl", hash = "sha256:91aaf00bfe1ffa44dc5b52809d9a95129fca10212eca3ac26420eb11727c6288"},
+    {file = "torch-2.4.0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:cc30457ea5489c62747d3306438af00c606b509d78822a88f804202ba63111ed"},
+    {file = "torch-2.4.0-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:a046491aaf96d1215e65e1fa85911ef2ded6d49ea34c8df4d0638879f2402eef"},
+    {file = "torch-2.4.0-cp38-cp38-win_amd64.whl", hash = "sha256:688eec9240f3ce775f22e1e1a5ab9894f3d5fe60f3f586deb7dbd23a46a83916"},
+    {file = "torch-2.4.0-cp38-none-macosx_11_0_arm64.whl", hash = "sha256:3af4de2a618fb065e78404c4ba27a818a7b7957eaeff28c6c66ce7fb504b68b8"},
+    {file = "torch-2.4.0-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:618808d3f610d5f180e47a697d4ec90b810953bb1e020f424b2ac7fb0884b545"},
+    {file = "torch-2.4.0-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:ed765d232d23566052ba83632ec73a4fccde00b4c94ad45d63b471b09d63b7a7"},
+    {file = "torch-2.4.0-cp39-cp39-win_amd64.whl", hash = "sha256:a2feb98ac470109472fb10dfef38622a7ee08482a16c357863ebc7bc7db7c8f7"},
+    {file = "torch-2.4.0-cp39-none-macosx_11_0_arm64.whl", hash = "sha256:8940fc8b97a4c61fdb5d46a368f21f4a3a562a17879e932eb51a5ec62310cb31"},
 ]
 
 [package.dependencies]
 filelock = "*"
 fsspec = "*"
 jinja2 = "*"
-mkl = {version = ">=2021.1.1,<=2021.4.0", markers = "platform_system == \"Windows\""}
 networkx = "*"
 nvidia-cublas-cu12 = {version = "12.1.3.1", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cuda-cupti-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cuda-nvrtc-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cuda-runtime-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
-nvidia-cudnn-cu12 = {version = "8.9.2.26", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cudnn-cu12 = {version = "9.1.0.70", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cufft-cu12 = {version = "11.0.2.54", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-curand-cu12 = {version = "10.3.2.106", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cusolver-cu12 = {version = "11.4.5.107", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
@@ -2765,22 +2690,22 @@ nvidia-cusparse-cu12 = {version = "12.1.0.106", markers = "platform_system == \"
 nvidia-nccl-cu12 = {version = "2.20.5", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-nvtx-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 sympy = "*"
-triton = {version = "2.3.1", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\" and python_version < \"3.12\""}
+triton = {version = "3.0.0", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\" and python_version < \"3.13\""}
 typing-extensions = ">=4.8.0"
 
 [package.extras]
 opt-einsum = ["opt-einsum (>=3.3)"]
-optree = ["optree (>=0.9.1)"]
+optree = ["optree (>=0.11.0)"]
 
 [[package]]
 name = "tqdm"
-version = "4.66.4"
+version = "4.66.5"
 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "tqdm-4.66.4-py3-none-any.whl", hash = "sha256:b75ca56b413b030bc3f00af51fd2c1a1a5eac6a0c1cca83cbb37a5c52abce644"},
-    {file = "tqdm-4.66.4.tar.gz", hash = "sha256:e4d936c9de8727928f3be6079590e97d9abfe8d39a590be678eb5919ffc186bb"},
+    {file = "tqdm-4.66.5-py3-none-any.whl", hash = "sha256:90279a3770753eafc9194a0364852159802111925aa30eb3f9d85b0e805ac7cd"},
+    {file = "tqdm-4.66.5.tar.gz", hash = "sha256:e1020aef2e5096702d8a025ac7d16b1577279c9d63f8375b63083e9a5f0fcbad"},
 ]
 
 [package.dependencies]
@@ -2794,17 +2719,21 @@ telegram = ["requests"]
 
 [[package]]
 name = "triton"
-version = "2.3.1"
+version = "3.0.0"
 description = "A language and compiler for custom Deep Learning operations"
 optional = false
 python-versions = "*"
 files = [
-    {file = "triton-2.3.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3c84595cbe5e546b1b290d2a58b1494df5a2ef066dd890655e5b8a8a92205c33"},
-    {file = "triton-2.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c9d64ae33bcb3a7a18081e3a746e8cf87ca8623ca13d2c362413ce7a486f893e"},
-    {file = "triton-2.3.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eaf80e8761a9e3498aa92e7bf83a085b31959c61f5e8ac14eedd018df6fccd10"},
-    {file = "triton-2.3.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b13bf35a2b659af7159bf78e92798dc62d877aa991de723937329e2d382f1991"},
-    {file = "triton-2.3.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:63381e35ded3304704ea867ffde3b7cfc42c16a55b3062d41e017ef510433d66"},
-    {file = "triton-2.3.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1d968264523c7a07911c8fb51b4e0d1b920204dae71491b1fe7b01b62a31e124"},
+    {file = "triton-3.0.0-1-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:e1efef76935b2febc365bfadf74bcb65a6f959a9872e5bddf44cc9e0adce1e1a"},
+    {file = "triton-3.0.0-1-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:5ce8520437c602fb633f1324cc3871c47bee3b67acf9756c1a66309b60e3216c"},
+    {file = "triton-3.0.0-1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:34e509deb77f1c067d8640725ef00c5cbfcb2052a1a3cb6a6d343841f92624eb"},
+    {file = "triton-3.0.0-1-cp38-cp38-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:bcbf3b1c48af6a28011a5c40a5b3b9b5330530c3827716b5fbf6d7adcc1e53e9"},
+    {file = "triton-3.0.0-1-cp39-cp39-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:6e5727202f7078c56f91ff13ad0c1abab14a0e7f2c87e91b12b6f64f3e8ae609"},
+    {file = "triton-3.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:39b052da883351fdf6be3d93cedae6db3b8e3988d3b09ed221bccecfa9612230"},
+    {file = "triton-3.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cd34f19a8582af96e6291d4afce25dac08cb2a5d218c599163761e8e0827208e"},
+    {file = "triton-3.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0d5e10de8c011adeb7c878c6ce0dd6073b14367749e34467f1cff2bde1b78253"},
+    {file = "triton-3.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e8903767951bf86ec960b4fe4e21bc970055afc65e9d57e916d79ae3c93665e3"},
+    {file = "triton-3.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:41004fb1ae9a53fcb3e970745feb87f0e3c94c6ce1ba86e95fa3b8537894bef7"},
 ]
 
 [package.dependencies]
@@ -2812,8 +2741,8 @@ filelock = "*"
 
 [package.extras]
 build = ["cmake (>=3.20)", "lit"]
-tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)", "torch"]
-tutorials = ["matplotlib", "pandas", "tabulate", "torch"]
+tests = ["autopep8", "flake8", "isort", "llnl-hatchet", "numpy", "pytest", "scipy (>=1.7.1)"]
+tutorials = ["matplotlib", "pandas", "tabulate"]
 
 [[package]]
 name = "typing-extensions"
@@ -2970,13 +2899,13 @@ files = [
 
 [[package]]
 name = "zipp"
-version = "3.19.2"
+version = "3.20.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
-    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
+    {file = "zipp-3.20.0-py3-none-any.whl", hash = "sha256:58da6168be89f0be59beb194da1250516fdaa062ccebd30127ac65d30045e10d"},
+    {file = "zipp-3.20.0.tar.gz", hash = "sha256:0145e43d89664cfe1a2e533adc75adafed82fe2da404b4bbb6b026c0157bdb31"},
 ]
 
 [package.extras]
@@ -2986,4 +2915,4 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools",
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9, <=3.11.5"
-content-hash = "c230a92887cc37a9a360f2d8555642c17f8f210ef1888b243bbdce8cdcb884c2"
+content-hash = "7c4acaae18edc7e4f36dc20692795414183a0bb8a2ba0cdf21c68b7b6ff3dfd9"
diff --git a/pyproject.toml b/pyproject.toml
index 8a20849..b62d403 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -29,7 +29,7 @@ pytest = "^7.4.0"
 sphinx-copybutton = "^0.5.2"
 # sconegym = {path = "../sconegym", develop = true}
 matplotlib = "^3.8.0"
-myosuite = "^2.1.5"
+myosuite = "^2.5.0"
 
 
 [tool.poetry.scripts]
diff --git a/requirements.txt b/requirements.txt
index 8b4da1e..c23782d 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,30 +1,25 @@
 appdirs==1.4.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 beautifulsoup4==4.12.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 certifi==2024.7.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-beautifulsoup4==4.12.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-certifi==2024.7.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 charset-normalizer==3.3.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 click==8.1.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-cloudpickle==1.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+cloudpickle==3.0.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 colorama==0.4.6 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
 docker-pycreds==0.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-filelock==3.15.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-fsspec==2024.6.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-gdown==5.2.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+farama-notifications==0.0.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 filelock==3.15.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 fsspec==2024.6.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gdown==5.2.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gitdb==4.0.11 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 gitpython==3.1.43 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-gitpython==3.1.43 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-gym==0.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gymnasium==0.29.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 idna==3.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+importlib-metadata==8.2.0 ; python_version >= "3.9" and python_version < "3.10"
 jinja2==3.1.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 markupsafe==2.1.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 mpmath==1.3.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 networkx==3.2.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 numpy==1.26.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-numpy==1.26.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cublas-cu12==12.1.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cuda-cupti-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-cuda-nvrtc-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
@@ -38,21 +33,18 @@ nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x
 nvidia-nvjitlink-cu12==12.6.20 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
 pandas==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-pandas==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pathtools==0.1.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 protobuf==4.25.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 psutil==6.0.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-pyglet==2.0.17 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pysocks==1.7.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 python-dateutil==2.9.0.post0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pytz==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 pyyaml==6.0.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 requests==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 requests[socks]==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-scipy==1.13.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 sentry-sdk==2.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 setproctitle==1.3.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
-setuptools==72.1.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+setuptools==72.2.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 six==1.16.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 smmap==5.0.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 soupsieve==2.6 ; python_version >= "3.9" and python_full_version <= "3.11.5"
@@ -65,3 +57,4 @@ typing-extensions==4.12.2 ; python_version >= "3.9" and python_full_version <= "
 tzdata==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 urllib3==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
 wandb==0.15.12 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+zipp==3.20.0 ; python_version >= "3.9" and python_version < "3.10"

From 8e95a42cb804dcbce1e35189ea7989240fa5f175 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Wed, 14 Aug 2024 10:03:50 +0200
Subject: [PATCH 29/31] adapted workflow for newest myosuite version

---
 .github/workflows/python-app.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/python-app.yml b/.github/workflows/python-app.yml
index b0d4b23..79df059 100644
--- a/.github/workflows/python-app.yml
+++ b/.github/workflows/python-app.yml
@@ -70,7 +70,7 @@ jobs:
         python3 -m pip install --upgrade pip
         pip3 install -e .
         pip3 install -r requirements.txt
-        pip3 install myosuite==2.1.3
+        pip3 install myosuite==2.5.0
         pip3 install pytest
 
     - name: Run Test environment

From ef8ff9ba835f07e89b21147eef1a5bbcee95262f Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Wed, 14 Aug 2024 15:06:00 +0200
Subject: [PATCH 30/31] minor update for play and load function

---
 deprl/play.py             | 1 +
 deprl/utils/load_utils.py | 1 +
 2 files changed, 2 insertions(+)

diff --git a/deprl/play.py b/deprl/play.py
index 08dfef4..d9fcfa5 100644
--- a/deprl/play.py
+++ b/deprl/play.py
@@ -311,6 +311,7 @@ def play(
     config, checkpoint_path, _ = load_checkpoint(checkpoint_path, checkpoint)
 
     # Get important info from config
+    assert config is not None
     header = header or config["tonic"]["header"]
     agent = agent or config["tonic"]["agent"]
     environment = environment or config["tonic"]["test_environment"]
diff --git a/deprl/utils/load_utils.py b/deprl/utils/load_utils.py
index e93811d..06d36a6 100644
--- a/deprl/utils/load_utils.py
+++ b/deprl/utils/load_utils.py
@@ -44,6 +44,7 @@ def load_checkpoint(checkpoint_path, checkpoint="last"):
     Checkpoint loading for main() function.
     """
     if not os.path.isdir(checkpoint_path):
+        logger.log(f"Checkpoint path is not valid: {checkpoint_path}")
         return None, None, None
 
     path = (

From 47839c3d1a29e1a1982b04af0e05b09b91941db1 Mon Sep 17 00:00:00 2001
From: Pierre Schumacher <pierre.schumacher@tuebingen.mpg.de>
Date: Mon, 19 Aug 2024 11:13:41 +0200
Subject: [PATCH 31/31] added requirements.txt

---
 requirements.txt | 60 ++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 60 insertions(+)
 create mode 100644 requirements.txt

diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..c23782d
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,60 @@
+appdirs==1.4.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+beautifulsoup4==4.12.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+certifi==2024.7.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+charset-normalizer==3.3.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+click==8.1.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+cloudpickle==3.0.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+colorama==0.4.6 ; python_version >= "3.9" and python_full_version <= "3.11.5" and platform_system == "Windows"
+docker-pycreds==0.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+farama-notifications==0.0.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+filelock==3.15.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+fsspec==2024.6.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gdown==5.2.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gitdb==4.0.11 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gitpython==3.1.43 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+gymnasium==0.29.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+idna==3.7 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+importlib-metadata==8.2.0 ; python_version >= "3.9" and python_version < "3.10"
+jinja2==3.1.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+markupsafe==2.1.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+mpmath==1.3.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+networkx==3.2.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+numpy==1.26.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cublas-cu12==12.1.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cuda-cupti-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cuda-nvrtc-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cuda-runtime-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cudnn-cu12==9.1.0.70 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cufft-cu12==11.0.2.54 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-nvjitlink-cu12==12.6.20 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.9" and python_full_version <= "3.11.5"
+pandas==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pathtools==0.1.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+protobuf==4.25.4 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+psutil==6.0.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pysocks==1.7.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+python-dateutil==2.9.0.post0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pytz==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+pyyaml==6.0.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+requests==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+requests[socks]==2.32.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+sentry-sdk==2.13.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+setproctitle==1.3.3 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+setuptools==72.2.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+six==1.16.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+smmap==5.0.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+soupsieve==2.6 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+sympy==1.13.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+termcolor==2.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+torch==2.4.0 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tqdm==4.66.5 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+triton==3.0.0 ; platform_system == "Linux" and platform_machine == "x86_64" and python_full_version <= "3.11.5" and python_version >= "3.9"
+typing-extensions==4.12.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+tzdata==2024.1 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+urllib3==2.2.2 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+wandb==0.15.12 ; python_version >= "3.9" and python_full_version <= "3.11.5"
+zipp==3.20.0 ; python_version >= "3.9" and python_version < "3.10"