fix(envs): update dependencies and fix MuJoCo/ProcTHOR compatibility

[Shr1ftyy]

Summary

• Pin metaworld to correct release tag 3.0.0 (not v3.0.0) across pyproject.toml and Docker requirements — the v3.0.0 tag points to an older commit missing width/height constructor params
• Pin procthor to latest upstream commit (53d5bd4) for reproducible builds
• Migrate metaworld_env.py from deprecated mujoco-py API to mujoco 3.x:
  • model.site_name2id() → mujoco.mj_name2id()
  • data.site_xquat[] → mujoco.mju_mat2Quat() from data.site_xmat[]
  • data.site_xvelp[]/site_xvelr[] → mujoco.mj_objectVelocity()
• Add monkey-patch for upstream procthor bug (allenai/procthor#60) where small object placement crashes on pipe-delimited room IDs

Test plan

• Rebuilt both kinitro/metaworld:v1 and kinitro/procthor:v1 containers
• Ran full E2E test with scheduler + executor against testnet (4 miners, 2 episodes/env)
• Verified metaworld/reach-v3 tasks execute with zero errors (no width, site_name2id, site_xquat, or site_xvelp issues)
• Verified procthor/v0 tasks execute with monkey-patch catching upstream bug gracefully
• All 16 tasks (2 envs × 4 miners × 2 episodes) completed successfully with results accepted

Note

The procthor environment will be removed in a separate PR.

Summary by CodeRabbit

Release Notes

• Chores

  • Updated MetaWorld dependency to version 3.0.0 release.
  • Pinned ProcTHOR dependency to a specific commit for reproducible builds.

• Bug Fixes

  • Improved error handling for small object placement in ProcTHOR environments.

• Improvements

  • Updated environment components to work with the latest MuJoCo library, enhancing end-effector orientation and velocity calculations.

[coderabbitai]

📝 Walkthrough

Walkthrough

Dependency pins updated for MetaWorld and ProcTHOR. MetaWorld environment code migrated to MuJoCo 3.x APIs for orientation and velocity retrieval. ProcTHOR house generation patched to skip small-object placement on specific ValueError via a wrapper applied at import time. No public APIs changed.

Changes

Cohort / File(s)	Summary
Dependency pinning for reproducibility environments/metaworld/requirements.txt, environments/procthor/requirements.txt, pyproject.toml	Pin MetaWorld from v3.0.0 tag style to 3.0.0 release; pin ProcTHOR to a specific commit in both requirements and pyproject.
MuJoCo 3.x migration in MetaWorld env kinitro/environments/metaworld_env.py	Replace site orientation and velocity access with MuJoCo 3.x APIs (mj_name2id, site_xmat + mju_mat2Quat, mj_objectVelocity); access model via env.unwrapped.model; adjust observation construction.
ProcTHOR small-object placement patch kinitro/environments/procthor/house_generator.py	Add wrapper to catch specific ValueError in default_add_small_objects and skip placement with a warning; patch applied at import, including procthor.generation re-exports.

Sequence Diagram(s)

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~10 minutes

Suggested reviewers

• rishiad

Poem

A hop, a pin, a gentle tweak—
I nudge the worlds we build each week.
MuJoCo spins, ProcTHOR sighs,
I skip small things, with twitching eyes.
Release tags bloom—so neat, so sweet—
Thump-thump! My review is now complete. 🥕🐇

🚥 Pre-merge checks | ✅ 2 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 50.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title accurately summarizes the main changes: updating dependencies (metaworld, procthor) and fixing MuJoCo 3.x compatibility issues in the environment code.

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✨ Finishing touches

• 📝 Generate docstrings

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch feat/update-envs

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