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chore: align MuJoCo dependencies with 3.10 #4

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15 changes: 7 additions & 8 deletions pyproject.toml
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Original file line numberDiff line numberDiff line change
Expand Up@@ -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",
Expand DownExpand Up@@ -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
Expand DownExpand Up@@ -103,4 +103,3 @@ pythonpath = ["src"]
filterwarnings = [
"ignore::DeprecationWarning",
]

29 changes: 29 additions & 0 deletions tests/test_project_metadata.py
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@@ -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"]
)