diff --git a/pyproject.toml b/pyproject.toml
index 393f1c2..716c38c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,9 +12,9 @@ dependencies = [
     "numpy>=1.26.0",
     # URLab remote-stepping client (section 6 of plan_remote_stepping.md):
     # MuJoCo version pinned to URLab's submodule build (third_party/MuJoCo
-    # currently at 3.8.1). mismatch is rejected at handshake unless the
+    # currently at 3.10.0). mismatch is rejected at handshake unless the
     # caller passes mujoco_version_check=False.
-    "mujoco==3.8.1",
+    "mujoco==3.10.0",
     "msgpack>=1.0.0",
     # gymnasium for the URLabEnv gym adapter.
     "gymnasium>=1.0.0",
@@ -47,15 +47,15 @@ robojudo = [
     "joblib>=1.3.0",
 ]
 # mjlab eval-time runner.
-# mujoco-warp is pinned to 3.8.1 explicitly: mjlab 1.3.0 (the latest at
-# the time of writing) transitively brings mujoco-warp 3.7.0.1, which
+# mujoco-warp is pinned to 3.10.0.3 explicitly: mjlab 1.5.3 (the latest at
+# the time of writing) transitively brings an older mujoco-warp, which
 # references `mujoco.mjtEnableBit.mjENBL_MULTICCD` -- a value that was
-# removed in mujoco 3.8.x. With the bridge pinned to mujoco 3.8.1, the
+# removed in mujoco 3.8.x. With the bridge pinned to mujoco 3.10.0, the
 # import-time enum lookup fails with AttributeError and the mjlab
-# registry is silently skipped. mujoco-warp 3.8.1 has the matching API.
+# registry is silently skipped. mujoco-warp 3.10.0.3 has the matching API.
 mjlab = [
     "mjlab",
-    "mujoco-warp==3.8.1",
+    "mujoco-warp==3.10.0.3",
     "torch>=2.0.0",
 ]
 # ROS 2 rebroadcaster: rclpy / std_msgs / sensor_msgs / cv_bridge come
@@ -103,4 +103,3 @@ pythonpath = ["src"]
 filterwarnings = [
     "ignore::DeprecationWarning",
 ]
-
diff --git a/tests/test_project_metadata.py b/tests/test_project_metadata.py
new file mode 100644
index 0000000..b6fd61d
--- /dev/null
+++ b/tests/test_project_metadata.py
@@ -0,0 +1,29 @@
+# Copyright (c) 2026 Jonathan Embley-Riches. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Regression checks for the published dependency constraints."""
+
+from __future__ import annotations
+
+import tomllib
+from pathlib import Path
+
+
+def test_mujoco_dependencies_match_the_urlab_3_10_runtime():
+    metadata = tomllib.loads(Path("pyproject.toml").read_text())
+
+    assert "mujoco==3.10.0" in metadata["project"]["dependencies"]
+    assert (
+        "mujoco-warp==3.10.0.3" in metadata["project"]["optional-dependencies"]["mjlab"]
+    )