fix(libero): pin MuJoCo for robosuite 1.4

Author: johnnynunez

gr00t/eval/sim/LIBERO/setup_libero.sh

@@ -25,6 +25,9 @@ uv venv $LIBERO_UV_ENV/.venv --python 3.10
 source $LIBERO_UV_ENV/.venv/bin/activate
 # uv pip install gymnasium==1.2.0 # -> 2.9.1 -> 
 uv pip install --requirements $LIBERO_REPO/requirements.txt
+# robosuite 1.4 calls the MuJoCo 2.x mj_fullM(model, dst, qM) binding.
+# MuJoCo 3.10 changed it to mj_fullM(model, data, dst), breaking env creation.
+uv pip install mujoco==2.3.7
 uv pip install -e $LIBERO_REPO --config-settings editable_mode=compat
 uv pip install --editable $PROJECT_REPO --no-deps --python-version 3.12
 uv pip install torch==2.5.1 torchvision==0.20.1 pydantic av tianshou==0.5.1 tyro pandas dm_tree einops==0.8.1 albumentations==1.4.18 zmq

tests/examples/test_libero_setup.py

@@ -0,0 +1,27 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# 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.
+
+from pathlib import Path
+
+
+REPO_ROOT = Path(__file__).resolve().parents[2]
+SETUP_SCRIPT = REPO_ROOT / "gr00t/eval/sim/LIBERO/setup_libero.sh"
+
+
+def test_libero_setup_pins_mujoco_compatible_with_robosuite_1_4() -> None:
+    """robosuite 1.4 uses the MuJoCo 2.x ``mj_fullM`` Python signature."""
+    setup_script = SETUP_SCRIPT.read_text()
+
+    assert "mujoco==2.3.7" in setup_script