From dcb5695f1d8919301f7c92a9c710c86d048e64fa Mon Sep 17 00:00:00 2001
From: wangtao <865471687@qq.com>
Date: Wed, 23 Mar 2022 15:20:33 +0800
Subject: [PATCH 1/2] Fix the bug that Maze2D and AntMaze cannot be used in
 windows

The method "mujoco_py.load_model_from_path(fullpath)" can't load the file because it was opened but not closed when the temporary file was generated. So we need to close the file manually before calling this method.
---
 d4rl/locomotion/maze_env.py   | 3 ++-
 d4rl/pointmaze/dynamic_mjc.py | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/d4rl/locomotion/maze_env.py b/d4rl/locomotion/maze_env.py
index c6010f2b..b1dc5c2c 100644
--- a/d4rl/locomotion/maze_env.py
+++ b/d4rl/locomotion/maze_env.py
@@ -198,8 +198,9 @@ def __init__(
     torso = tree.find(".//body[@name='torso']")
     geoms = torso.findall(".//geom")
 
-    _, file_path = tempfile.mkstemp(text=True, suffix='.xml')
+    fd, file_path = tempfile.mkstemp(text=True, suffix='.xml')
     tree.write(file_path)
+    os.close(fd)
 
     self.LOCOMOTION_ENV.__init__(self, *args, file_path=file_path, non_zero_reset=non_zero_reset, reward_type=reward_type, **kwargs)
 
diff --git a/d4rl/pointmaze/dynamic_mjc.py b/d4rl/pointmaze/dynamic_mjc.py
index 657554d7..1825cbf9 100644
--- a/d4rl/pointmaze/dynamic_mjc.py
+++ b/d4rl/pointmaze/dynamic_mjc.py
@@ -51,9 +51,10 @@ def asfile(self):
         with model.asfile() as f:
             print f.read()  # prints a dump of the model
         """
-        with tempfile.NamedTemporaryFile(mode='w+', suffix='.xml', delete=True) as f:
+        with tempfile.NamedTemporaryFile(mode='w+', suffix='.xml', delete=False) as f:
             self.root.write(f)
             f.seek(0)
+            f.close()
             yield f
 
     def open(self):

From d7c988d329679597909f679f83dbef40b58365a5 Mon Sep 17 00:00:00 2001
From: wangtao <865471687@qq.com>
Date: Sun, 10 Apr 2022 15:57:30 +0800
Subject: [PATCH 2/2] modify setup.py

specify the version
---
 setup.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/setup.py b/setup.py
index c0a23936..55fe7642 100644
--- a/setup.py
+++ b/setup.py
@@ -6,16 +6,16 @@
 setup(
     name='d4rl',
     version='1.1',
-    install_requires=['gym',
+    install_requires=['gym==0.19.0',
                       'numpy',
-                      'mujoco_py',
+                      'mujoco_py==2.0.2.8',
                       'pybullet',
                       'h5py',
                       'termcolor',  # adept_envs dependency
                       'click',  # adept_envs dependency
                       'dm_control' if 'macOS' in platform() else
-                      'dm_control @ git+git://github.com/deepmind/dm_control@master#egg=dm_control',
-                      'mjrl @ git+git://github.com/aravindr93/mjrl@master#egg=mjrl'],
+                      'dm_control @ git+https://github.com/deepmind/dm_control@644d9e0047f68b35a6f8b79e5e8493e2910563af',
+                      'mjrl @ git+https://github.com/aravindr93/mjrl@master#egg=mjrl'],
     packages=find_packages(),
     package_data={'d4rl': ['locomotion/assets/*',
                            'hand_manipulation_suite/assets/*',