build(libero): robosuite 1.5.2 + mink override for RoboCasa coexistence

pyproject.toml

@@ -126,7 +126,11 @@ libero = [
     "matplotlib>=3.5.3",
     "egl-probe",
     "robomimic==0.2.0",
-    "robosuite==1.4.0",
+    # robosuite 1.5.2 (composite-controller framework) so LIBERO shares a venv with
+    # RoboCasa, which needs >=1.5. The LIBERO fork is ported to the 1.5 controller API
+    # (see load_arm_controller_config); robomimic 0.2.0 does not pin robosuite, so it
+    # co-installs unchanged.
+    "robosuite==1.5.2",
     "thop==0.1.1.post2209072238",
     "mujoco>=3.3.5",
     # pyopengl-accelerate ships a Cython C-extension compiled against a specific
@@ -161,6 +165,13 @@ egl-probe = { git = "https://github.com/shuheng-liu/egl_probe", tag = "v1.0.1-cm
 # only honored by uv >= 0.8.4, which `required-version` enforces.
 required-version = ">=0.8.4"
 extra-build-dependencies = { egl-probe = ["cmake"] }
+# robosuite 1.5.2 hard-pins mink==0.0.5, which caps numpy<2.0.0 and would block
+# OpenTau's numpy-2 stack (core rerun-sdk, the urdf extra, and LIBERO itself all
+# require numpy>=2). mink is only used by robosuite's GR1 whole-body-IK controller,
+# imported under a try/except in robosuite/__init__.py — never on the OSC_POSE/Panda
+# path LIBERO uses. mink 0.0.10+ drops the numpy<2 cap while still needing only
+# mujoco>=3.1.6, so override robosuite's over-strict pin up to that line (no mujoco bump).
+override-dependencies = ["mink>=0.0.10,<0.1"]
 
 [tool.setuptools.packages.find]
 where = ["src"]