diff --git a/dm_control/locomotion/mocap/mocap_pb2.py b/dm_control/locomotion/mocap/mocap_pb2.py
index 283166af..63f171fa 100644
--- a/dm_control/locomotion/mocap/mocap_pb2.py
+++ b/dm_control/locomotion/mocap/mocap_pb2.py
@@ -2,9 +2,9 @@
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: mocap.proto
 """Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
 from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
+from google.protobuf import descriptor_pool as _descriptor_pool
 from google.protobuf import symbol_database as _symbol_database
 # @@protoc_insertion_point(imports)
 
@@ -13,776 +13,71 @@
 
 
 
-DESCRIPTOR = _descriptor.FileDescriptor(
-  name='mocap.proto',
-  package='dm_control.locomotion.mocap',
-  syntax='proto3',
-  serialized_options=None,
-  create_key=_descriptor._internal_create_key,
-  serialized_pb=b'\n\x0bmocap.proto\x12\x1b\x64m_control.locomotion.mocap\"T\n\x06Marker\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0e\n\x06parent\x18\x02 \x01(\t\x12\x14\n\x08position\x18\x03 \x03(\x01\x42\x02\x10\x01\x12\x16\n\nquaternion\x18\x04 \x03(\x01\x42\x02\x10\x01\">\n\x07Markers\x12\x33\n\x06marker\x18\x01 \x03(\x0b\x32#.dm_control.locomotion.mocap.Marker\"O\n\x0eSubtreeScaling\x12\x11\n\tbody_name\x18\x01 \x01(\t\x12\x15\n\rparent_length\x18\x02 \x01(\x01\x12\x13\n\x0bsize_factor\x18\x03 \x01(\x01\"M\n\rWalkerScaling\x12<\n\x07subtree\x18\x01 \x03(\x0b\x32+.dm_control.locomotion.mocap.SubtreeScaling\"\xa2\x03\n\x06Walker\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x38\n\x05model\x18\x02 \x01(\x0e\x32).dm_control.locomotion.mocap.Walker.Model\x12;\n\x07scaling\x18\x03 \x01(\x0b\x32*.dm_control.locomotion.mocap.WalkerScaling\x12\x35\n\x07markers\x18\x04 \x01(\x0b\x32$.dm_control.locomotion.mocap.Markers\x12\x0c\n\x04mass\x18\x05 \x01(\x01\x12\x1a\n\x12\x65nd_effector_names\x18\x06 \x03(\t\x12\x17\n\x0f\x61ppendage_names\x18\x07 \x03(\t\"\x98\x01\n\x05Model\x12\x0f\n\x0bUNSPECIFIED\x10\x00\x12\x0c\n\x08\x43MU_2019\x10\x01\x12\x17\n\x13RESERVED_MODEL_ID_2\x10\x02\x12\x17\n\x13RESERVED_MODEL_ID_3\x10\x03\x12\x0c\n\x08\x43MU_2020\x10\x04\x12\x17\n\x13RESERVED_MODEL_ID_5\x10\x05\x12\x17\n\x13RESERVED_MODEL_ID_6\x10\x06\"\x9b\x01\n\x04Prop\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x36\n\x05shape\x18\x02 \x01(\x0e\x32\'.dm_control.locomotion.mocap.Prop.Shape\x12\x10\n\x04size\x18\x03 \x03(\x01\x42\x02\x10\x01\x12\x0c\n\x04mass\x18\x04 \x01(\x01\"-\n\x05Shape\x12\x0f\n\x0bUNSPECIFIED\x10\x00\x12\n\n\x06SPHERE\x10\x01\x12\x07\n\x03\x42OX\x10\x02\"\xa8\x02\n\nWalkerPose\x12\x14\n\x08position\x18\x01 \x03(\x01\x42\x02\x10\x01\x12\x16\n\nquaternion\x18\x02 \x03(\x01\x42\x02\x10\x01\x12\x12\n\x06joints\x18\x03 \x03(\x01\x42\x02\x10\x01\x12\x1a\n\x0e\x63\x65nter_of_mass\x18\x04 \x03(\x01\x42\x02\x10\x01\x12\x19\n\rend_effectors\x18\x05 \x03(\x01\x42\x02\x10\x01\x12\x14\n\x08velocity\x18\x06 \x03(\x01\x42\x02\x10\x01\x12\x1c\n\x10\x61ngular_velocity\x18\x07 \x03(\x01\x42\x02\x10\x01\x12\x1b\n\x0fjoints_velocity\x18\x08 \x03(\x01\x42\x02\x10\x01\x12\x16\n\nappendages\x18\t \x03(\x01\x42\x02\x10\x01\x12\x1a\n\x0e\x62ody_positions\x18\n \x03(\x01\x42\x02\x10\x01\x12\x1c\n\x10\x62ody_quaternions\x18\x0b \x03(\x01\x42\x02\x10\x01\"l\n\x08PropPose\x12\x14\n\x08position\x18\x01 \x03(\x01\x42\x02\x10\x01\x12\x16\n\nquaternion\x18\x02 \x03(\x01\x42\x02\x10\x01\x12\x14\n\x08velocity\x18\x03 \x03(\x01\x42\x02\x10\x01\x12\x1c\n\x10\x61ngular_velocity\x18\x04 \x03(\x01\x42\x02\x10\x01\"~\n\x0cTimestepData\x12\x38\n\x07walkers\x18\x01 \x03(\x0b\x32\'.dm_control.locomotion.mocap.WalkerPose\x12\x34\n\x05props\x18\x02 \x03(\x0b\x32%.dm_control.locomotion.mocap.PropPose\"\x82\x02\n\x10\x46ittedTrajectory\x12\x12\n\nidentifier\x18\x01 \x01(\t\x12\x0c\n\x04year\x18\x02 \x01(\x05\x12\r\n\x05month\x18\x03 \x01(\x05\x12\x0b\n\x03\x64\x61y\x18\x04 \x01(\x05\x12\n\n\x02\x64t\x18\x05 \x01(\x01\x12\x34\n\x07walkers\x18\x06 \x03(\x0b\x32#.dm_control.locomotion.mocap.Walker\x12\x30\n\x05props\x18\x07 \x03(\x0b\x32!.dm_control.locomotion.mocap.Prop\x12<\n\ttimesteps\x18\x08 \x03(\x0b\x32).dm_control.locomotion.mocap.TimestepDatab\x06proto3'
-)
-
-
-
-_WALKER_MODEL = _descriptor.EnumDescriptor(
-  name='Model',
-  full_name='dm_control.locomotion.mocap.Walker.Model',
-  filename=None,
-  file=DESCRIPTOR,
-  create_key=_descriptor._internal_create_key,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='UNSPECIFIED', index=0, number=0,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='CMU_2019', index=1, number=1,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='RESERVED_MODEL_ID_2', index=2, number=2,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='RESERVED_MODEL_ID_3', index=3, number=3,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='CMU_2020', index=4, number=4,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='RESERVED_MODEL_ID_5', index=5, number=5,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='RESERVED_MODEL_ID_6', index=6, number=6,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-  ],
-  containing_type=None,
-  serialized_options=None,
-  serialized_start=621,
-  serialized_end=773,
-)
-_sym_db.RegisterEnumDescriptor(_WALKER_MODEL)
-
-_PROP_SHAPE = _descriptor.EnumDescriptor(
-  name='Shape',
-  full_name='dm_control.locomotion.mocap.Prop.Shape',
-  filename=None,
-  file=DESCRIPTOR,
-  create_key=_descriptor._internal_create_key,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='UNSPECIFIED', index=0, number=0,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='SPHERE', index=1, number=1,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='BOX', index=2, number=2,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-  ],
-  containing_type=None,
-  serialized_options=None,
-  serialized_start=886,
-  serialized_end=931,
-)
-_sym_db.RegisterEnumDescriptor(_PROP_SHAPE)
-
-
-_MARKER = _descriptor.Descriptor(
-  name='Marker',
-  full_name='dm_control.locomotion.mocap.Marker',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='name', full_name='dm_control.locomotion.mocap.Marker.name', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='parent', full_name='dm_control.locomotion.mocap.Marker.parent', index=1,
-      number=2, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='position', full_name='dm_control.locomotion.mocap.Marker.position', index=2,
-      number=3, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='quaternion', full_name='dm_control.locomotion.mocap.Marker.quaternion', index=3,
-      number=4, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=44,
-  serialized_end=128,
-)
-
-
-_MARKERS = _descriptor.Descriptor(
-  name='Markers',
-  full_name='dm_control.locomotion.mocap.Markers',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='marker', full_name='dm_control.locomotion.mocap.Markers.marker', index=0,
-      number=1, type=11, cpp_type=10, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=130,
-  serialized_end=192,
-)
-
-
-_SUBTREESCALING = _descriptor.Descriptor(
-  name='SubtreeScaling',
-  full_name='dm_control.locomotion.mocap.SubtreeScaling',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='body_name', full_name='dm_control.locomotion.mocap.SubtreeScaling.body_name', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='parent_length', full_name='dm_control.locomotion.mocap.SubtreeScaling.parent_length', index=1,
-      number=2, type=1, cpp_type=5, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='size_factor', full_name='dm_control.locomotion.mocap.SubtreeScaling.size_factor', index=2,
-      number=3, type=1, cpp_type=5, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=194,
-  serialized_end=273,
-)
-
-
-_WALKERSCALING = _descriptor.Descriptor(
-  name='WalkerScaling',
-  full_name='dm_control.locomotion.mocap.WalkerScaling',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='subtree', full_name='dm_control.locomotion.mocap.WalkerScaling.subtree', index=0,
-      number=1, type=11, cpp_type=10, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=275,
-  serialized_end=352,
-)
-
-
-_WALKER = _descriptor.Descriptor(
-  name='Walker',
-  full_name='dm_control.locomotion.mocap.Walker',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='name', full_name='dm_control.locomotion.mocap.Walker.name', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='model', full_name='dm_control.locomotion.mocap.Walker.model', index=1,
-      number=2, type=14, cpp_type=8, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='scaling', full_name='dm_control.locomotion.mocap.Walker.scaling', index=2,
-      number=3, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='markers', full_name='dm_control.locomotion.mocap.Walker.markers', index=3,
-      number=4, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='mass', full_name='dm_control.locomotion.mocap.Walker.mass', index=4,
-      number=5, type=1, cpp_type=5, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='end_effector_names', full_name='dm_control.locomotion.mocap.Walker.end_effector_names', index=5,
-      number=6, type=9, cpp_type=9, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='appendage_names', full_name='dm_control.locomotion.mocap.Walker.appendage_names', index=6,
-      number=7, type=9, cpp_type=9, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-    _WALKER_MODEL,
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=355,
-  serialized_end=773,
-)
-
-
-_PROP = _descriptor.Descriptor(
-  name='Prop',
-  full_name='dm_control.locomotion.mocap.Prop',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='name', full_name='dm_control.locomotion.mocap.Prop.name', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='shape', full_name='dm_control.locomotion.mocap.Prop.shape', index=1,
-      number=2, type=14, cpp_type=8, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='size', full_name='dm_control.locomotion.mocap.Prop.size', index=2,
-      number=3, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='mass', full_name='dm_control.locomotion.mocap.Prop.mass', index=3,
-      number=4, type=1, cpp_type=5, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-    _PROP_SHAPE,
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=776,
-  serialized_end=931,
-)
-
-
-_WALKERPOSE = _descriptor.Descriptor(
-  name='WalkerPose',
-  full_name='dm_control.locomotion.mocap.WalkerPose',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='position', full_name='dm_control.locomotion.mocap.WalkerPose.position', index=0,
-      number=1, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='quaternion', full_name='dm_control.locomotion.mocap.WalkerPose.quaternion', index=1,
-      number=2, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='joints', full_name='dm_control.locomotion.mocap.WalkerPose.joints', index=2,
-      number=3, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='center_of_mass', full_name='dm_control.locomotion.mocap.WalkerPose.center_of_mass', index=3,
-      number=4, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='end_effectors', full_name='dm_control.locomotion.mocap.WalkerPose.end_effectors', index=4,
-      number=5, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='velocity', full_name='dm_control.locomotion.mocap.WalkerPose.velocity', index=5,
-      number=6, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='angular_velocity', full_name='dm_control.locomotion.mocap.WalkerPose.angular_velocity', index=6,
-      number=7, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='joints_velocity', full_name='dm_control.locomotion.mocap.WalkerPose.joints_velocity', index=7,
-      number=8, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='appendages', full_name='dm_control.locomotion.mocap.WalkerPose.appendages', index=8,
-      number=9, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='body_positions', full_name='dm_control.locomotion.mocap.WalkerPose.body_positions', index=9,
-      number=10, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='body_quaternions', full_name='dm_control.locomotion.mocap.WalkerPose.body_quaternions', index=10,
-      number=11, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=934,
-  serialized_end=1230,
-)
-
-
-_PROPPOSE = _descriptor.Descriptor(
-  name='PropPose',
-  full_name='dm_control.locomotion.mocap.PropPose',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='position', full_name='dm_control.locomotion.mocap.PropPose.position', index=0,
-      number=1, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='quaternion', full_name='dm_control.locomotion.mocap.PropPose.quaternion', index=1,
-      number=2, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='velocity', full_name='dm_control.locomotion.mocap.PropPose.velocity', index=2,
-      number=3, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='angular_velocity', full_name='dm_control.locomotion.mocap.PropPose.angular_velocity', index=3,
-      number=4, type=1, cpp_type=5, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=1232,
-  serialized_end=1340,
-)
-
-
-_TIMESTEPDATA = _descriptor.Descriptor(
-  name='TimestepData',
-  full_name='dm_control.locomotion.mocap.TimestepData',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='walkers', full_name='dm_control.locomotion.mocap.TimestepData.walkers', index=0,
-      number=1, type=11, cpp_type=10, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='props', full_name='dm_control.locomotion.mocap.TimestepData.props', index=1,
-      number=2, type=11, cpp_type=10, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=1342,
-  serialized_end=1468,
-)
-
-
-_FITTEDTRAJECTORY = _descriptor.Descriptor(
-  name='FittedTrajectory',
-  full_name='dm_control.locomotion.mocap.FittedTrajectory',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='identifier', full_name='dm_control.locomotion.mocap.FittedTrajectory.identifier', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='year', full_name='dm_control.locomotion.mocap.FittedTrajectory.year', index=1,
-      number=2, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='month', full_name='dm_control.locomotion.mocap.FittedTrajectory.month', index=2,
-      number=3, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='day', full_name='dm_control.locomotion.mocap.FittedTrajectory.day', index=3,
-      number=4, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='dt', full_name='dm_control.locomotion.mocap.FittedTrajectory.dt', index=4,
-      number=5, type=1, cpp_type=5, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='walkers', full_name='dm_control.locomotion.mocap.FittedTrajectory.walkers', index=5,
-      number=6, type=11, cpp_type=10, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='props', full_name='dm_control.locomotion.mocap.FittedTrajectory.props', index=6,
-      number=7, type=11, cpp_type=10, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='timesteps', full_name='dm_control.locomotion.mocap.FittedTrajectory.timesteps', index=7,
-      number=8, type=11, cpp_type=10, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=1471,
-  serialized_end=1729,
-)
-
-_MARKERS.fields_by_name['marker'].message_type = _MARKER
-_WALKERSCALING.fields_by_name['subtree'].message_type = _SUBTREESCALING
-_WALKER.fields_by_name['model'].enum_type = _WALKER_MODEL
-_WALKER.fields_by_name['scaling'].message_type = _WALKERSCALING
-_WALKER.fields_by_name['markers'].message_type = _MARKERS
-_WALKER_MODEL.containing_type = _WALKER
-_PROP.fields_by_name['shape'].enum_type = _PROP_SHAPE
-_PROP_SHAPE.containing_type = _PROP
-_TIMESTEPDATA.fields_by_name['walkers'].message_type = _WALKERPOSE
-_TIMESTEPDATA.fields_by_name['props'].message_type = _PROPPOSE
-_FITTEDTRAJECTORY.fields_by_name['walkers'].message_type = _WALKER
-_FITTEDTRAJECTORY.fields_by_name['props'].message_type = _PROP
-_FITTEDTRAJECTORY.fields_by_name['timesteps'].message_type = _TIMESTEPDATA
-DESCRIPTOR.message_types_by_name['Marker'] = _MARKER
-DESCRIPTOR.message_types_by_name['Markers'] = _MARKERS
-DESCRIPTOR.message_types_by_name['SubtreeScaling'] = _SUBTREESCALING
-DESCRIPTOR.message_types_by_name['WalkerScaling'] = _WALKERSCALING
-DESCRIPTOR.message_types_by_name['Walker'] = _WALKER
-DESCRIPTOR.message_types_by_name['Prop'] = _PROP
-DESCRIPTOR.message_types_by_name['WalkerPose'] = _WALKERPOSE
-DESCRIPTOR.message_types_by_name['PropPose'] = _PROPPOSE
-DESCRIPTOR.message_types_by_name['TimestepData'] = _TIMESTEPDATA
-DESCRIPTOR.message_types_by_name['FittedTrajectory'] = _FITTEDTRAJECTORY
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-Marker = _reflection.GeneratedProtocolMessageType('Marker', (_message.Message,), {
-  'DESCRIPTOR' : _MARKER,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.Marker)
-  })
-_sym_db.RegisterMessage(Marker)
-
-Markers = _reflection.GeneratedProtocolMessageType('Markers', (_message.Message,), {
-  'DESCRIPTOR' : _MARKERS,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.Markers)
-  })
-_sym_db.RegisterMessage(Markers)
-
-SubtreeScaling = _reflection.GeneratedProtocolMessageType('SubtreeScaling', (_message.Message,), {
-  'DESCRIPTOR' : _SUBTREESCALING,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.SubtreeScaling)
-  })
-_sym_db.RegisterMessage(SubtreeScaling)
-
-WalkerScaling = _reflection.GeneratedProtocolMessageType('WalkerScaling', (_message.Message,), {
-  'DESCRIPTOR' : _WALKERSCALING,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.WalkerScaling)
-  })
-_sym_db.RegisterMessage(WalkerScaling)
-
-Walker = _reflection.GeneratedProtocolMessageType('Walker', (_message.Message,), {
-  'DESCRIPTOR' : _WALKER,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.Walker)
-  })
-_sym_db.RegisterMessage(Walker)
-
-Prop = _reflection.GeneratedProtocolMessageType('Prop', (_message.Message,), {
-  'DESCRIPTOR' : _PROP,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.Prop)
-  })
-_sym_db.RegisterMessage(Prop)
-
-WalkerPose = _reflection.GeneratedProtocolMessageType('WalkerPose', (_message.Message,), {
-  'DESCRIPTOR' : _WALKERPOSE,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.WalkerPose)
-  })
-_sym_db.RegisterMessage(WalkerPose)
-
-PropPose = _reflection.GeneratedProtocolMessageType('PropPose', (_message.Message,), {
-  'DESCRIPTOR' : _PROPPOSE,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.PropPose)
-  })
-_sym_db.RegisterMessage(PropPose)
-
-TimestepData = _reflection.GeneratedProtocolMessageType('TimestepData', (_message.Message,), {
-  'DESCRIPTOR' : _TIMESTEPDATA,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.TimestepData)
-  })
-_sym_db.RegisterMessage(TimestepData)
-
-FittedTrajectory = _reflection.GeneratedProtocolMessageType('FittedTrajectory', (_message.Message,), {
-  'DESCRIPTOR' : _FITTEDTRAJECTORY,
-  '__module__' : 'mocap_pb2'
-  # @@protoc_insertion_point(class_scope:dm_control.locomotion.mocap.FittedTrajectory)
-  })
-_sym_db.RegisterMessage(FittedTrajectory)
-
-
-_MARKER.fields_by_name['position']._options = None
-_MARKER.fields_by_name['quaternion']._options = None
-_PROP.fields_by_name['size']._options = None
-_WALKERPOSE.fields_by_name['position']._options = None
-_WALKERPOSE.fields_by_name['quaternion']._options = None
-_WALKERPOSE.fields_by_name['joints']._options = None
-_WALKERPOSE.fields_by_name['center_of_mass']._options = None
-_WALKERPOSE.fields_by_name['end_effectors']._options = None
-_WALKERPOSE.fields_by_name['velocity']._options = None
-_WALKERPOSE.fields_by_name['angular_velocity']._options = None
-_WALKERPOSE.fields_by_name['joints_velocity']._options = None
-_WALKERPOSE.fields_by_name['appendages']._options = None
-_WALKERPOSE.fields_by_name['body_positions']._options = None
-_WALKERPOSE.fields_by_name['body_quaternions']._options = None
-_PROPPOSE.fields_by_name['position']._options = None
-_PROPPOSE.fields_by_name['quaternion']._options = None
-_PROPPOSE.fields_by_name['velocity']._options = None
-_PROPPOSE.fields_by_name['angular_velocity']._options = None
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0bmocap.proto\x12\x1b\x64m_control.locomotion.mocap\"T\n\x06Marker\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0e\n\x06parent\x18\x02 \x01(\t\x12\x14\n\x08position\x18\x03 \x03(\x01\x42\x02\x10\x01\x12\x16\n\nquaternion\x18\x04 \x03(\x01\x42\x02\x10\x01\">\n\x07Markers\x12\x33\n\x06marker\x18\x01 \x03(\x0b\x32#.dm_control.locomotion.mocap.Marker\"O\n\x0eSubtreeScaling\x12\x11\n\tbody_name\x18\x01 \x01(\t\x12\x15\n\rparent_length\x18\x02 \x01(\x01\x12\x13\n\x0bsize_factor\x18\x03 \x01(\x01\"M\n\rWalkerScaling\x12<\n\x07subtree\x18\x01 \x03(\x0b\x32+.dm_control.locomotion.mocap.SubtreeScaling\"\xa2\x03\n\x06Walker\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x38\n\x05model\x18\x02 \x01(\x0e\x32).dm_control.locomotion.mocap.Walker.Model\x12;\n\x07scaling\x18\x03 \x01(\x0b\x32*.dm_control.locomotion.mocap.WalkerScaling\x12\x35\n\x07markers\x18\x04 \x01(\x0b\x32$.dm_control.locomotion.mocap.Markers\x12\x0c\n\x04mass\x18\x05 \x01(\x01\x12\x1a\n\x12\x65nd_effector_names\x18\x06 \x03(\t\x12\x17\n\x0f\x61ppendage_names\x18\x07 \x03(\t\"\x98\x01\n\x05Model\x12\x0f\n\x0bUNSPECIFIED\x10\x00\x12\x0c\n\x08\x43MU_2019\x10\x01\x12\x17\n\x13RESERVED_MODEL_ID_2\x10\x02\x12\x17\n\x13RESERVED_MODEL_ID_3\x10\x03\x12\x0c\n\x08\x43MU_2020\x10\x04\x12\x17\n\x13RESERVED_MODEL_ID_5\x10\x05\x12\x17\n\x13RESERVED_MODEL_ID_6\x10\x06\"\x9b\x01\n\x04Prop\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x36\n\x05shape\x18\x02 \x01(\x0e\x32\'.dm_control.locomotion.mocap.Prop.Shape\x12\x10\n\x04size\x18\x03 \x03(\x01\x42\x02\x10\x01\x12\x0c\n\x04mass\x18\x04 \x01(\x01\"-\n\x05Shape\x12\x0f\n\x0bUNSPECIFIED\x10\x00\x12\n\n\x06SPHERE\x10\x01\x12\x07\n\x03\x42OX\x10\x02\"\xa8\x02\n\nWalkerPose\x12\x14\n\x08position\x18\x01 \x03(\x01\x42\x02\x10\x01\x12\x16\n\nquaternion\x18\x02 \x03(\x01\x42\x02\x10\x01\x12\x12\n\x06joints\x18\x03 \x03(\x01\x42\x02\x10\x01\x12\x1a\n\x0e\x63\x65nter_of_mass\x18\x04 \x03(\x01\x42\x02\x10\x01\x12\x19\n\rend_effectors\x18\x05 \x03(\x01\x42\x02\x10\x01\x12\x14\n\x08velocity\x18\x06 \x03(\x01\x42\x02\x10\x01\x12\x1c\n\x10\x61ngular_velocity\x18\x07 \x03(\x01\x42\x02\x10\x01\x12\x1b\n\x0fjoints_velocity\x18\x08 \x03(\x01\x42\x02\x10\x01\x12\x16\n\nappendages\x18\t \x03(\x01\x42\x02\x10\x01\x12\x1a\n\x0e\x62ody_positions\x18\n \x03(\x01\x42\x02\x10\x01\x12\x1c\n\x10\x62ody_quaternions\x18\x0b \x03(\x01\x42\x02\x10\x01\"l\n\x08PropPose\x12\x14\n\x08position\x18\x01 \x03(\x01\x42\x02\x10\x01\x12\x16\n\nquaternion\x18\x02 \x03(\x01\x42\x02\x10\x01\x12\x14\n\x08velocity\x18\x03 \x03(\x01\x42\x02\x10\x01\x12\x1c\n\x10\x61ngular_velocity\x18\x04 \x03(\x01\x42\x02\x10\x01\"~\n\x0cTimestepData\x12\x38\n\x07walkers\x18\x01 \x03(\x0b\x32\'.dm_control.locomotion.mocap.WalkerPose\x12\x34\n\x05props\x18\x02 \x03(\x0b\x32%.dm_control.locomotion.mocap.PropPose\"\x82\x02\n\x10\x46ittedTrajectory\x12\x12\n\nidentifier\x18\x01 \x01(\t\x12\x0c\n\x04year\x18\x02 \x01(\x05\x12\r\n\x05month\x18\x03 \x01(\x05\x12\x0b\n\x03\x64\x61y\x18\x04 \x01(\x05\x12\n\n\x02\x64t\x18\x05 \x01(\x01\x12\x34\n\x07walkers\x18\x06 \x03(\x0b\x32#.dm_control.locomotion.mocap.Walker\x12\x30\n\x05props\x18\x07 \x03(\x0b\x32!.dm_control.locomotion.mocap.Prop\x12<\n\ttimesteps\x18\x08 \x03(\x0b\x32).dm_control.locomotion.mocap.TimestepDatab\x06proto3')
+
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mocap_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  _MARKER.fields_by_name['position']._options = None
+  _MARKER.fields_by_name['position']._serialized_options = b'\020\001'
+  _MARKER.fields_by_name['quaternion']._options = None
+  _MARKER.fields_by_name['quaternion']._serialized_options = b'\020\001'
+  _PROP.fields_by_name['size']._options = None
+  _PROP.fields_by_name['size']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['position']._options = None
+  _WALKERPOSE.fields_by_name['position']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['quaternion']._options = None
+  _WALKERPOSE.fields_by_name['quaternion']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['joints']._options = None
+  _WALKERPOSE.fields_by_name['joints']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['center_of_mass']._options = None
+  _WALKERPOSE.fields_by_name['center_of_mass']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['end_effectors']._options = None
+  _WALKERPOSE.fields_by_name['end_effectors']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['velocity']._options = None
+  _WALKERPOSE.fields_by_name['velocity']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['angular_velocity']._options = None
+  _WALKERPOSE.fields_by_name['angular_velocity']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['joints_velocity']._options = None
+  _WALKERPOSE.fields_by_name['joints_velocity']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['appendages']._options = None
+  _WALKERPOSE.fields_by_name['appendages']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['body_positions']._options = None
+  _WALKERPOSE.fields_by_name['body_positions']._serialized_options = b'\020\001'
+  _WALKERPOSE.fields_by_name['body_quaternions']._options = None
+  _WALKERPOSE.fields_by_name['body_quaternions']._serialized_options = b'\020\001'
+  _PROPPOSE.fields_by_name['position']._options = None
+  _PROPPOSE.fields_by_name['position']._serialized_options = b'\020\001'
+  _PROPPOSE.fields_by_name['quaternion']._options = None
+  _PROPPOSE.fields_by_name['quaternion']._serialized_options = b'\020\001'
+  _PROPPOSE.fields_by_name['velocity']._options = None
+  _PROPPOSE.fields_by_name['velocity']._serialized_options = b'\020\001'
+  _PROPPOSE.fields_by_name['angular_velocity']._options = None
+  _PROPPOSE.fields_by_name['angular_velocity']._serialized_options = b'\020\001'
+  _MARKER._serialized_start=44
+  _MARKER._serialized_end=128
+  _MARKERS._serialized_start=130
+  _MARKERS._serialized_end=192
+  _SUBTREESCALING._serialized_start=194
+  _SUBTREESCALING._serialized_end=273
+  _WALKERSCALING._serialized_start=275
+  _WALKERSCALING._serialized_end=352
+  _WALKER._serialized_start=355
+  _WALKER._serialized_end=773
+  _WALKER_MODEL._serialized_start=621
+  _WALKER_MODEL._serialized_end=773
+  _PROP._serialized_start=776
+  _PROP._serialized_end=931
+  _PROP_SHAPE._serialized_start=886
+  _PROP_SHAPE._serialized_end=931
+  _WALKERPOSE._serialized_start=934
+  _WALKERPOSE._serialized_end=1230
+  _PROPPOSE._serialized_start=1232
+  _PROPPOSE._serialized_end=1340
+  _TIMESTEPDATA._serialized_start=1342
+  _TIMESTEPDATA._serialized_end=1468
+  _FITTEDTRAJECTORY._serialized_start=1471
+  _FITTEDTRAJECTORY._serialized_end=1729
 # @@protoc_insertion_point(module_scope)
diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
index cc332f03..36c9d7bc 100644
--- a/dm_control/mjcf/schema.xml
+++ b/dm_control/mjcf/schema.xml
@@ -53,7 +53,7 @@
         <attribute name="o_margin" type="float"/>
         <attribute name="o_solref" type="array" array_type="float" array_size="2"/>
         <attribute name="o_solimp" type="array" array_type="float" array_size="5"/>
-        <attribute name="integrator" type="keyword" valid_values="Euler RK4"/>
+        <attribute name="integrator" type="keyword" valid_values="Euler RK4 implicit"/>
         <attribute name="collision" type="keyword" valid_values="all predefined dynamic"/>
         <attribute name="cone" type="keyword" valid_values="pyramidal elliptic"/>
         <attribute name="jacobian" type="keyword" valid_values="dense sparse auto"/>
diff --git a/dm_control/mujoco/tutorial.ipynb b/dm_control/mujoco/tutorial.ipynb
index 96533a15..b8021426 100644
--- a/dm_control/mujoco/tutorial.ipynb
+++ b/dm_control/mujoco/tutorial.ipynb
@@ -77,7 +77,7 @@
         "      'Go to the Runtime menu and select Choose runtime type.')\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.2\n",
+        "!pip install -q dm_control\u003e=1.0.3\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",
diff --git a/requirements.txt b/requirements.txt
index cc525470..e0c950c5 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,21 +1,20 @@
-absl-py==0.9.0
-dm-env==1.2
-dm-tree==0.1.6
-future==0.18.2
-glfw==1.11.0
-h5py==3.1.0
-labmaze==1.0.3
-lxml==4.6.5
-mock==3.0.5
-mujoco==2.1.5
+absl-py==1.0.0
+dm-env==1.5
+dm-tree==0.1.7
+glfw==1.12.0
+h5py==3.6.0
+labmaze==1.0.5
+lxml==4.8.0
+mock==4.0.3
+mujoco==2.2.0
 nose==1.3.7
 nose-xunitmp==0.4.1
-numpy==1.21.0
-Pillow==9.0.1
-protobuf==3.15.6
-pyopengl==3.1.5
-pyparsing==2.4.6
-requests==2.24.0
-scipy==1.5.4
-setuptools!=50.0.0
-tqdm==4.47.0
+numpy==1.21.6
+Pillow==9.1.1
+protobuf==3.20.1
+pyopengl==3.1.6
+pyparsing==2.4.7
+requests==2.27.1
+scipy==1.7.3
+setuptools==62.3.2
+tqdm==4.64.0
diff --git a/setup.py b/setup.py
index ba633829..c1278ee9 100644
--- a/setup.py
+++ b/setup.py
@@ -173,7 +173,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='1.0.2',
+    version='1.0.3',
     description='Continuous control environments and MuJoCo Python bindings.',
     long_description="""
 # `dm_control`: DeepMind Infrastructure for Physics-Based Simulation.
@@ -199,11 +199,10 @@ def is_excluded(s):
         'absl-py>=0.7.0',
         'dm-env',
         'dm-tree != 0.1.2',
-        'future',
         'glfw',
         'labmaze',
         'lxml',
-        'mujoco >= 2.1.5',
+        'mujoco >= 2.2.0',
         'numpy >= 1.9.0',
         'protobuf >= 3.15.6',
         'pyopengl >= 3.1.4',
diff --git a/tutorial.ipynb b/tutorial.ipynb
index e8a7023c..e0d4b8ce 100644
--- a/tutorial.ipynb
+++ b/tutorial.ipynb
@@ -77,7 +77,7 @@
         "      'Go to the Runtime menu and select Choose runtime type.')\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.2\n",
+        "!pip install -q dm_control\u003e=1.0.3\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",