Update to Python >= 3.8

README.md

@@ -25,7 +25,7 @@ These libraries are distributed on PyPI, the packages are:
 *  `dm_robotics-moma`
 *  `dm_robotics-controllers`
 
-Python versions 3.7, 3.8, 3.9 and 3.10 are supported.
+Python versions 3.8, 3.9, 3.10, and 3.11 are supported.
 
 ## Dependencies
 `MoMa`, `Manipulation` and `Controllers` depend on MuJoCo, the other packages do not.
@@ -38,7 +38,7 @@ To build and test the libraries, run `build.sh`.  This script assumes:
 *  MuJoCo is installed.
 *  [`dm_control`](https://github.com/deepmind/dm_control) is installed.
 *  cmake version >= 3.20.2 is installed.
-*  Python 3.7, 3.8, 3.9 or 3.10 and system headers are installed.
+*  Python 3.8, 3.9, 3.10 or 3.11 and system headers are installed.
 *  GCC version 9 or later is installed.
 *  numpy is installed.
 

cpp/mujoco/include/dm_robotics/mujoco/mjlib.h

@@ -377,8 +377,6 @@ class MjLib {
   MjLib(const std::string& libmujoco_path, int dlopen_flags);
   ~MjLib();
 
-  MjActivateFunc* const mj_activate;                        // NOLINT
-  MjDeactivateFunc* const mj_deactivate;                    // NOLINT
   MjDefaultVFSFunc* const mj_defaultVFS;                    // NOLINT
   MjAddFileVFSFunc* const mj_addFileVFS;                    // NOLINT
   MjMakeEmptyFileVFSFunc* const mj_makeEmptyFileVFS;        // NOLINT

cpp/mujoco/src/mjlib.cc

@@ -74,8 +74,6 @@ struct MjLib::Impl {
 
 MjLib::MjLib(const std::string& libmujoco_path, int dlopen_flags)
     : pimpl_(absl::make_unique<Impl>(libmujoco_path, dlopen_flags)),
-      INIT_WITH_DLSYM(mj_activate),
-      INIT_WITH_DLSYM(mj_deactivate),
       INIT_WITH_DLSYM(mj_defaultVFS),
       INIT_WITH_DLSYM(mj_addFileVFS),
       INIT_WITH_DLSYM(mj_makeEmptyFileVFS),

cpp/setup.py

@@ -130,7 +130,7 @@ def _parse_line(s):
     long_description=open("controllers_py/README.md").read(),
     long_description_content_type="text/markdown",
     url="https://github.com/deepmind/dm_robotics/tree/main/cpp/controllers_py",
-    python_requires=">=3.7, <3.11",
+    python_requires=">=3.8",
     setup_requires=["wheel >= 0.31.0"],
     classifiers=[
         "Development Status :: 5 - Production/Stable",

py/agentflow/setup.py

@@ -47,6 +47,7 @@ def _parse_line(s):
         "dm_robotics.agentflow",
         "dm_robotics.agentflow.loggers",
         "dm_robotics.agentflow.meta_options.control_flow",
+        "dm_robotics.agentflow.meta_options.control_flow.examples",
         "dm_robotics.agentflow.options",
         "dm_robotics.agentflow.preprocessors",
         "dm_robotics.agentflow.rendering",
@@ -59,7 +60,7 @@ def _parse_line(s):
     long_description=open("README.md").read(),
     long_description_content_type="text/markdown",
     url="https://github.com/deepmind/dm_robotics/tree/main/py/agentflow",
-    python_requires=">=3.7, <3.11",
+    python_requires=">=3.8",
     setup_requires=["wheel >= 0.31.0"],
     install_requires=(_get_requirements("requirements.txt") +
                       _get_requirements("requirements_external.txt")),

py/geometry/geometry_test.py

@@ -14,6 +14,7 @@
 
 import itertools
 import operator
+import sys
 
 from absl.testing import absltest
 from absl.testing import parameterized
@@ -242,11 +243,17 @@ def test_pose_property_cannot_set(self):
     pose = geometry.Pose(list(range(3)), list(range(4)))
     with self.assertRaises(AttributeError) as expected:
       pose.position = list(range(10, 13, 1))
-    self.assertIn('can\'t set attribute', str(expected.exception))
+    if sys.version_info < (3, 11):
+      self.assertIn('can\'t set attribute', str(expected.exception))
+    else:
+      self.assertIn('object has no setter', str(expected.exception))
 
     with self.assertRaises(AttributeError) as expected:
       pose.quaternion = list(range(10, 14, 1))
-    self.assertIn('can\'t set attribute', str(expected.exception))
+    if sys.version_info < (3, 11):
+      self.assertIn('can\'t set attribute', str(expected.exception))
+    else:
+      self.assertIn('object has no setter', str(expected.exception))
 
   def test_pose_property_cannot_setitem(self):
     pose = geometry.Pose(list(range(3)), list(range(4)))

py/geometry/setup.py

@@ -51,7 +51,7 @@ def _parse_line(s):
     long_description=open("README.md").read(),
     long_description_content_type="text/markdown",
     url="https://github.com/deepmind/dm_robotics/tree/main/py/geometry",
-    python_requires=">=3.7, <3.11",
+    python_requires=">=3.8",
     setup_requires=["wheel >= 0.31.0"],
     install_requires=(_get_requirements("requirements.txt") +
                       _get_requirements("requirements_external.txt")),

py/manipulation/setup.py

@@ -59,7 +59,7 @@ def _parse_line(s):
     long_description=open("README.md").read(),
     long_description_content_type="text/markdown",
     url="https://github.com/deepmind/dm_robotics/tree/main/py/manipulation",
-    python_requires=">=3.7, <3.11",
+    python_requires=">=3.8",
     setup_requires=["wheel >= 0.31.0"],
     install_requires=(_get_requirements("requirements.txt") +
                       _get_requirements("requirements_external.txt")),

py/moma/setup.py

@@ -63,7 +63,7 @@ def _parse_line(s):
     long_description=open("README.md").read(),
     long_description_content_type="text/markdown",
     url="https://github.com/deepmind/dm_robotics/tree/main/py/moma",
-    python_requires=">=3.7, <3.11",
+    python_requires=">=3.8",
     setup_requires=["wheel >= 0.31.0"],
     install_requires=(_get_requirements("requirements.txt") +
                       _get_requirements("requirements_external.txt")),