only support mujoco-py <2.0 #1731
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It looks like we upgraded to mujoco-py 2.0 without testing it: #1401 unlike the upgrade to 1.5: #834
Perhaps as a result we have some issue with missing contact forces: #1541
For now, we can downgrade to only supporting mujoco-py <2.0 until there is a compelling reason to upgrade to 2.0 and some testing is done.