- SimplerEnv and Robocasa setup script fixes.

Co-authored-by: Ryan Halabi <ryhalabi@nvidia.com>

id: c4d6114b48f184769a7210962a2353c4582891fe

Author: SyncBot

gr00t/eval/sim/SimplerEnv/setup_SimplerEnv.sh

@@ -18,6 +18,8 @@ mkdir -p "$UV_ENV"
 uv venv "$UV_ENV/.venv" --python 3.10
 source "$UV_ENV/.venv/bin/activate"
 uv pip install "setuptools<71"
+BUILD_CONSTRAINTS="$UV_ENV/build-constraints.txt"
+printf 'scikit-build-core<0.10\n' > "$BUILD_CONSTRAINTS"
 
 # Core deps (match cluster’s pyproject pattern)
 uv pip install \
@@ -31,15 +33,29 @@ uv pip install \
 # uv pip install -e "$SIMPLER_REPO/ManiSkill2_real2sim" --config-settings editable_mode=compat
 # uv pip install -e "$SIMPLER_REPO" --config-settings editable_mode=compat
 
-uv pip install -e "$SIMPLER_REPO/ManiSkill2_real2sim"
-uv pip install -e "$SIMPLER_REPO"
+uv pip install --build-constraint "$BUILD_CONSTRAINTS" -e "$SIMPLER_REPO/ManiSkill2_real2sim"
+uv pip install --build-constraint "$BUILD_CONSTRAINTS" -e "$SIMPLER_REPO"
 
 # gr00t pins python>=3.12, so editable-installing it into this 3.10 sim island
 # fails dependency resolution. Drop a .pth instead: gr00t imports from the repo
 # root using the island's own deps (the prior install was --no-deps anyway).
 python -c "import sysconfig, pathlib; pathlib.Path(sysconfig.get_path('purelib'), 'gr00t.pth').write_text(pathlib.Path('$PROJECT_REPO').resolve().as_posix() + '\n')"
 
-uv pip install tianshou==0.5.1 pydantic av zmq torchvision==0.22.0 transformers==4.57.3 tyro setuptools==80.9.0
+uv pip install \
+  tianshou==0.5.1 \
+  pydantic \
+  av \
+  zmq \
+  torchvision==0.22.0 \
+  transformers==4.57.3 \
+  tyro \
+  setuptools==80.9.0 \
+  pandas==2.2.3 \
+  dm-tree==0.1.9 \
+  einops==0.8.1 \
+  albumentations==1.4.18 \
+  diffusers==0.35.1 \
+  scipy==1.15.3
 
 # Sanity check
 python - <<'PY'

gr00t/eval/sim/robocasa-gr1-tabletop-tasks/setup_RoboCasaGR1TabletopTasks.sh

@@ -59,13 +59,12 @@ uv pip install -e "$ROBOCASA_GR1_TABLETOP_TASKS_REPO" --config-settings editable
 # Optional: your eval stack uses gymnasium
 uv pip install gymnasium==0.29.1 pydantic av==15.0.0 zmq transformers==4.57.3 msgpack==1.1.0 msgpack-numpy==0.4.8 tyro
 
-# Pin mujoco: robosuite 1.5.1 calls mj_fullM(model, dst, M), whose signature
-# changed in mujoco 3.10.0 (2026-06-22) to mj_fullM(model, data, dst). mujoco is
-# pulled in unpinned by robosuite, so it floats to the latest release and crashes
-# env creation. Pin below the break (matches the RoboCasa island's mujoco==3.3.1).
+# Pin mujoco: robocasa-gr1-tabletop-tasks asserts mujoco==3.2.6 at import time,
+# and that version still predates the mujoco 3.10 mj_fullM signature break that
+# robosuite relies on.
 # Pin numpy to 1.26.4 too, matching the other islands for deterministic rebuilds
 # and to keep robosuite/mujoco on the numpy 1.x ABI they expect.
-uv pip install numpy==1.26.4 mujoco==3.3.1
+uv pip install numpy==1.26.4 mujoco==3.2.6
 
 # Expose gr00t from the repo root via a .pth: no dependency re-resolution, and
 # the island supplies gr00t's runtime deps itself (matches the old --no-deps).