Mujoco 3.3.6 is breaking dm_control

PyPI パッケージを使用して suite.load("cheetah", "run") で失敗を再現し、その後 dm_control/mujoco/index.py の struct_indexer 周辺と dm_control/mujoco/engine.py の _reload_from_data 周辺を調査します。MuJoCo 3.3.6 で cheetah の実行時に MjData B_colind AttributeError が発生しなくなれば完了です。

Installing dm_control from pypi makes it unusable:

$ suite.load("cheetah", "run")
...
  File "/Users/vmoens/venv/rl/lib/python3.11/site-packages/dm_control/suite/cheetah.py", line 45, in run
    physics = Physics.from_xml_string(*get_model_and_assets())
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/vmoens/venv/rl/lib/python3.11/site-packages/dm_control/mujoco/engine.py", line 444, in from_xml_string
    return cls.from_model(model)
           ^^^^^^^^^^^^^^^^^^^^^
  File "/Users/vmoens/venv/rl/lib/python3.11/site-packages/dm_control/mujoco/engine.py", line 427, in from_model
    return cls(data)
           ^^^^^^^^^
  File "/Users/vmoens/venv/rl/lib/python3.11/site-packages/dm_control/mujoco/engine.py", line 123, in __init__
    self._reload_from_data(data)
  File "/Users/vmoens/venv/rl/lib/python3.11/site-packages/dm_control/mujoco/engine.py", line 408, in _reload_from_data
    data=index.struct_indexer(self.data, 'mjdata', axis_indexers),)
         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/vmoens/venv/rl/lib/python3.11/site-packages/dm_control/mujoco/index.py", line 628, in struct_indexer
    attr = getattr(struct, field_name)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'MjData' object has no attribute 'B_colind'