Chore: bump version to 0.3.0, update dependencies, and improve README instructions for conda environment setup.

Author: fei-yang-wu

README.md

@@ -10,7 +10,7 @@ We recommend using the `conda-forge` channel for managing dependencies. For a fa
 
 1.  **Create and activate a conda environment:**
     ```bash
-    mamba create -n iltools python=3.10 -c conda-forge
+    mamba create -n iltools python=3.11 -c conda-forge
     conda activate iltools
     ```
 
@@ -20,7 +20,10 @@ We recommend using the `conda-forge` channel for managing dependencies. For a fa
     ```
 
 3.  **Install the project:**
-    From the root of this repository, run:
+
+    First, install [```loco-mujoco```](https://github.com/robfiras/loco-mujoco.git).
+
+    Then from the root of this repository, run:
     ```bash
     uv pip install -e .
     ```

examples/export_rb.ipynb

@@ -324,7 +324,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 38,
+   "execution_count": null,
    "id": "4220f595",
    "metadata": {},
    "outputs": [
@@ -372,7 +372,7 @@
     }
    ],
    "source": [
-    "b1[\"observation\"]\n"
+    "b1[\"observation\"]"
    ]
   },
   {
@@ -748,25 +748,15 @@
     "    else:\n",
     "        root = zarr.open_group(zp, mode=\"r\")\n",
     "        print(\"Zarr:\", zp)\n",
-    "        for ds_name in getattr(root, \"group_keys\", lambda: list(root.keys()))():\n",
+    "        for ds_name in root.keys():\n",
     "            ds_group = root[ds_name]\n",
-    "            try:\n",
-    "                motions = list(ds_group.group_keys())\n",
-    "            except Exception:\n",
-    "                motions = [\n",
-    "                    k\n",
-    "                    for k in ds_group.keys()\n",
-    "                    if isinstance(ds_group[k], zarr.hierarchy.Group)\n",
-    "                ]\n",
+    "            motions = [\n",
+    "                k for k in ds_group.keys() if isinstance(ds_group[k], zarr.Group)\n",
+    "            ]\n",
     "            print(f\"- Dataset source: {ds_name} (motions: {len(motions)})\")\n",
     "            for motion in motions:\n",
     "                mg = ds_group[motion]\n",
-    "                try:\n",
-    "                    trajs = list(mg.group_keys())\n",
-    "                except Exception:\n",
-    "                    trajs = [\n",
-    "                        k for k in mg.keys() if isinstance(mg[k], zarr.hierarchy.Group)\n",
-    "                    ]\n",
+    "                trajs = [k for k in mg.keys() if isinstance(mg[k], zarr.Group)]\n",
     "                lengths = []\n",
     "                for traj in trajs:\n",
     "                    tg = mg[traj]\n",
@@ -775,11 +765,7 @@
     "                        \"qpos\"\n",
     "                        if \"qpos\" in tg\n",
     "                        else next(\n",
-    "                            (\n",
-    "                                k\n",
-    "                                for k in tg.keys()\n",
-    "                                if isinstance(tg[k], zarr.core.Array)\n",
-    "                            ),\n",
+    "                            (k for k in tg.keys() if isinstance(tg[k], zarr.Array)),\n",
     "                            None,\n",
     "                        )\n",
     "                    )\n",