[train] 更新新MJCF与第一版完整训练框架

05_software/train/rc_mjlab/mjlab/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "uv_build"
 
 [project]
 name = "mjlab"
-version = "1.3.0"
+version = "1.4.0"
 license = "Apache-2.0"
 license-files = ["LICENSE"]
 readme = { file = "README.md", content-type = "text/markdown" }
@@ -37,15 +37,16 @@ dependencies = [
   "torch>=2.7.0",
   "torchrunx>=0.3.4",
   "warp-lang>=1.12.0",
-  "mujoco-warp>=3.8.0",
-  "mujoco>=3.8.0",
+  "mujoco-warp>=3.8.0.3,~=3.8.0",
+  "mujoco~=3.8.0",
   "trimesh>=4.8.3",
-  "viser>=1.0.26",
-  "mjviser>=0.0.13",
+  "scipy>=1.15",
+  "viser>=1.0.27",
+  "mjviser>=0.0.14",
   "mediapy>=1.2.6",
   "imageio-ffmpeg",
   "tensordict",
-  "rsl-rl-lib==5.2.0",
+  "rsl-rl-lib==5.4.0",
   "tensorboard>=2.20.0",
   "onnxscript>=0.5.4",
   "wandb>=0.22.3",
@@ -98,11 +99,11 @@ conflicts = [
   [{extra = "cu128"}, {extra = "cpu"}],
 ]
 # The nightly index (py.mujoco.org) only has dev builds, and PEP 440 ranks
-# 3.7.0.devN < 3.7.0, so the >=3.7.0 floor in [project.dependencies] would
+# 3.8.0.devN < 3.8.0, so the ~=3.8.0 floor in [project.dependencies] would
 # reject them. This override loosens the constraint for uv resolution only.
 override-dependencies = ["mujoco>=3.8.0.dev0"]
 constraint-dependencies = [
-  "GitPython>=3.1.47",
+  "GitPython>=3.1.49",
   "lxml>=6.1.0",
 ]
 required-environments = [
@@ -111,12 +112,6 @@ required-environments = [
 ]
 
 [[tool.uv.index]]
-name = "tsinghua"
-url = "https://pypi.tuna.tsinghua.edu.cn/simple"
-default = true
-
-[[tool.uv.index]]
-name = "pypi"
 url = "https://pypi.org/simple"
 
 [[tool.uv.index]]
@@ -146,8 +141,7 @@ torch = [
   { index = "pytorch-cpu", extra = "cpu", marker = "sys_platform != 'darwin'" },
 ]
 mujoco = { index = "mujoco" }
-mujoco-warp = { git = "https://github.com/google-deepmind/mujoco_warp", rev = "6f235d4" }
-mjviser = { git = "https://github.com/mujocolab/mjviser", rev = "1bdfd6fe79066b847a5f430000fcfbb53ec31a6f" }
+mujoco-warp = { git = "https://github.com/google-deepmind/mujoco_warp", rev = "88b55fc2696960b927bc12584994bb8412b36558" }
 
 [tool.ruff]
 src = ["src"]  # Helpful for recognizing first-party imports.