diff --git a/docs/sphinx/source/changelog.md b/docs/sphinx/source/changelog.md index b6e9ef66c..df1611e70 100644 --- a/docs/sphinx/source/changelog.md +++ b/docs/sphinx/source/changelog.md @@ -67,6 +67,29 @@ PyPI 版本变更与未发布变更；发布日期采用 PyPI 上传日期。完 Reward manager 不再在 reset extras 中重复输出 `Episode_Reward/*`；既有 episode log 仍是这些指标的数据源（#1570）。 +### Changed / 变更 + +- The MuJoCo executor dependency is pinned to `mjbatch-uni~=0.2.1` and + `unisim-core` moves to `>=1.4.0` + ([unisim#71](https://github.com/unilabsim/unisim/issues/71), + [mjbatch_uni#28](https://github.com/unilabsim/mjbatch_uni/issues/28)). + unisim-core 1.4.0 adds per-environment gravity reset, the cross-backend + body wrench/torque contract, and per-substep callback wrenches through + `PreStepControlOutput`; on the MuJoCo pre-step control path the executor's + split-substep sensor copyout now refreshes tracked body state at every + substep boundary (about 14x faster than the previous host-side recompute, + with bit-identical trajectories). Tests that pinned the previous executor + callback protocol and Isaac worker diagnostic text were updated to the + published contracts. + MuJoCo 执行器依赖固定为 `mjbatch-uni~=0.2.1`，`unisim-core` 升级到 + `>=1.4.0`（unisim#71、mjbatch_uni#28）。unisim-core 1.4.0 新增逐环境 + 重力 reset、跨后端 body wrench/torque 契约，以及通过 + `PreStepControlOutput` 的逐子步 callback wrench；MuJoCo pre-step control + 路径改用执行器的 split-substep 传感器增量拷出，在每个子步边界刷新 + tracked body state（相比此前主机端重算约 14 倍加速，轨迹逐位一致）。 + 原先固定旧执行器 callback 协议与 Isaac worker 诊断文案的测试已更新到 + 已发布契约。 + ## 1.2.0 (2026-09-10) ### Breaking changes / 破坏性变更 diff --git a/pyproject.rocm.toml b/pyproject.rocm.toml index 53b35bbf9..e3a7b60b0 100644 --- a/pyproject.rocm.toml +++ b/pyproject.rocm.toml @@ -24,9 +24,10 @@ requires-python = ">=3.10,<3.14" dependencies = [ "numpy", # Physics implementations are provided by the independently released - # unisim-core package. The 1.3.0 release carries the fixed model variant - # and per-world reset-default contracts. - "unisim-core>=1.3.0", + # unisim-core package. The 1.4.0 release carries the fixed model variant, + # per-world reset-default, per-env gravity, and substep body-wrench + # contracts. + "unisim-core>=1.4.0", # RL algorithms and async runtimes live in the independently released # uni-rl package (distribution name ``unilab-rl``); see pyproject.toml. "unilab-rl==1.2.0", @@ -80,7 +81,7 @@ mujoco = [ # time, so isolated builds are correct and no compiler preflight is # needed. "mujoco~=3.11.0", - "mjbatch-uni~=0.2.0", + "mjbatch-uni~=0.2.1", ] motrix = ["motrixsim-core==0.8.2"] viser = ["viser>=1.0.26", "trimesh>=3.21.7"] diff --git a/pyproject.toml b/pyproject.toml index 13633e51d..35e3a348b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -41,9 +41,10 @@ requires-python = ">=3.10,<3.14" dependencies = [ "numpy", # Physics implementations are provided by the independently released - # unisim-core package. The 1.3.0 release carries the fixed model variant - # and per-world reset-default contracts. - "unisim-core>=1.3.0", + # unisim-core package. The 1.4.0 release carries the fixed model variant, + # per-world reset-default, per-env gravity, and substep body-wrench + # contracts. + "unisim-core>=1.4.0", # RL algorithms and async runtimes (PPO/APPO/SAC/TD3 runners, # collectors, IPC, logging) live in the independently released uni-rl # package (distribution name ``unilab-rl``), consumed via the injected @@ -122,7 +123,7 @@ mujoco = [ # not a UniLab config change. "mujoco~=3.11.0", # The batch engine is the published unilabsim mjbatch fork. - "mjbatch-uni~=0.2.0", + "mjbatch-uni~=0.2.1", ] mjwarp = [ # Keep the Warp backend on the same MuJoCo minor line as the host backend. @@ -172,7 +173,7 @@ viser = ["viser>=1.0.26", "trimesh>=3.21.7"] # required-environments; elsewhere the extra is empty and the CLI reports a # targeted runtime diagnostic. superdex = [ - "unisim-core[superdex]>=1.3.0 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'", + "unisim-core[superdex]>=1.4.0 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'", ] [dependency-groups] diff --git a/tests/base/test_backend_pre_step_control.py b/tests/base/test_backend_pre_step_control.py index b1114b5ab..1516db424 100644 --- a/tests/base/test_backend_pre_step_control.py +++ b/tests/base/test_backend_pre_step_control.py @@ -7,8 +7,17 @@ from unisim.backend.base import SimBackend +def _contract_backend(fn=None): + """A minimal owner object exposing the pre-step-control contract methods.""" + backend = SimpleNamespace(_pre_step_control_fn=fn) + backend._convert_pre_step_control = lambda ctrl: SimBackend._convert_pre_step_control( + backend, ctrl + ) + return backend + + def test_pre_step_control_default_noop() -> None: - backend = SimpleNamespace(_pre_step_control_fn=None) + backend = _contract_backend() ctrl = np.zeros((2, 3), dtype=np.float32) out = SimBackend._apply_pre_step_control(backend, ctrl) # type: ignore[arg-type] @@ -17,7 +26,7 @@ def test_pre_step_control_default_noop() -> None: def test_pre_step_control_applies_registered_converter() -> None: - backend = SimpleNamespace(_pre_step_control_fn=None) + backend = _contract_backend() ctrl = np.array([[1.0, 2.0, 3.0]], dtype=np.float32) SimBackend.set_pre_step_control( # type: ignore[arg-type] @@ -34,7 +43,7 @@ def test_pre_step_control_applies_registered_converter() -> None: def test_pre_step_control_rejects_shape_mismatch() -> None: - backend = SimpleNamespace(_pre_step_control_fn=lambda current_backend, ctrl: ctrl[:, :1]) + backend = _contract_backend(lambda current_backend, ctrl: ctrl[:, :1]) ctrl = np.zeros((2, 3), dtype=np.float32) with pytest.raises(ValueError, match="pre-step control must return shape"): @@ -70,6 +79,7 @@ def __init__(self, nq: int = 1, nv: int = 1, nu: int = 2, nbody: int = 1) -> Non } self.step_calls: list[dict] = [] self.callback_controls: list[np.ndarray] = [] + self.callback_channels: list[np.ndarray] = [] def bind(self, name: str, dtype=None) -> np.ndarray: return self._bufs[name] @@ -81,19 +91,28 @@ def step( history=None, *, callback=None, + substep_sensor_copyout=None, ) -> None: self.step_calls.append( { "nstep": nstep, "callback": callback, + "substep_sensor_copyout": substep_sensor_copyout, } ) state = self._state ctrl_buf = self._bufs["ctrl"] for k in range(nstep): if callback is not None: - callback(k, state, ctrl_buf) + if substep_sensor_copyout is None: + callback(k, state, ctrl_buf) + else: + start, stop = substep_sensor_copyout + callback(k, state, ctrl_buf, self._bufs["sensordata"][:, start:stop]) self.callback_controls.append(ctrl_buf.copy()) + # The persistent wrench channel as the substep's physics + # sees it: composed after the callback, before integration. + self.callback_channels.append(self._bufs["xfrc_applied"].copy()) state += 1.0 # End-of-call copy-out of the bound input/derived fields. self._bufs["qpos"][:] = state[:, self.qpos_slice] @@ -118,6 +137,7 @@ def _fake_mujoco_backend(pre_step_control_fn=None): pool = _FakeMjBatch() backend = object.__new__(MuJoCoBackend) backend._pre_step_control_fn = pre_step_control_fn + backend._tracked_sensor_copyout_range = None backend._num_envs = 1 backend._np_dtype = np.float32 backend.nq = pool._nq @@ -219,7 +239,7 @@ def test_mujoco_step_writes_xfrc_absolutely_and_clears_pending() -> None: np.testing.assert_allclose(backend._pending_xfrc_applied, [[0.0] * 6]) -def test_mujoco_step_with_pre_step_control_stages_xfrc_before_dispatch() -> None: +def test_mujoco_step_with_pre_step_control_applies_staged_xfrc_each_substep() -> None: backend = _fake_mujoco_backend() backend._pending_xfrc_applied = np.full((1, 6), 7.0, dtype=np.float64) @@ -230,11 +250,18 @@ def test_mujoco_step_with_pre_step_control_stages_xfrc_before_dispatch() -> None pool = backend._pool assert len(pool.step_calls) == 1 - # The callback protocol writes ctrl only; the wrench rides its own channel. + # The staged wrench is recomposed onto the persistent channel before every + # substep; each recorded channel is the wrench that substep's physics + # actually consumed. assert len(pool.callback_controls) == 2 for cb_control in pool.callback_controls: np.testing.assert_allclose(cb_control, [[1.5, 0.5]]) - np.testing.assert_allclose(backend._xfrc_view.reshape(1, -1), [[7.0] * 6]) + assert len(pool.callback_channels) == 2 + for channel in pool.callback_channels: + np.testing.assert_allclose(channel.reshape(1, -1), [[7.0] * 6]) + # The call finishes by clearing the persistent channel and the staging + # buffer so nothing leaks into the next control step. + np.testing.assert_allclose(backend._xfrc_view.reshape(1, -1), [[0.0] * 6]) np.testing.assert_allclose(backend._pending_xfrc_applied, [[0.0] * 6]) diff --git a/tests/base/test_isaacgym_backend.py b/tests/base/test_isaacgym_backend.py index 352f280b9..1febf6017 100644 --- a/tests/base/test_isaacgym_backend.py +++ b/tests/base/test_isaacgym_backend.py @@ -252,7 +252,9 @@ def test_dependencies_missing_runtime_is_actionable( ) -> None: monkeypatch.setenv(ENV_HOME, str(tmp_path / "empty")) monkeypatch.delenv(ENV_PYTHON, raising=False) - with pytest.raises(IsaacGymDependencyError, match="setup_isaacgym_env.sh"): + with pytest.raises( + IsaacGymDependencyError, match="could not find the Python 3.8 worker interpreter" + ): resolve_isaacgym_runtime() diff --git a/tests/base/test_isaacsim_backend.py b/tests/base/test_isaacsim_backend.py index b1ddcad64..40c4421af 100644 --- a/tests/base/test_isaacsim_backend.py +++ b/tests/base/test_isaacsim_backend.py @@ -184,7 +184,9 @@ def test_dependencies_override_and_missing_layout( empty = tmp_path / "empty" monkeypatch.setenv(ENV_HOME, str(empty)) monkeypatch.delenv(ENV_PYTHON, raising=False) - with pytest.raises(IsaacSimDependencyError, match="setup_isaacsim_env.sh"): + with pytest.raises( + IsaacSimDependencyError, match="could not find the Python 3.11 worker interpreter" + ): resolve_isaacsim_runtime() diff --git a/uv.lock b/uv.lock index 31682b940..9adc6b3c2 100644 --- a/uv.lock +++ b/uv.lock @@ -2136,27 +2136,27 @@ wheels = [ [[package]] name = "mjbatch-uni" -version = "0.2.0" +version = "0.2.1" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "mujoco" }, { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, { name = "numpy", version = "2.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/fa/d7/0353b4cff9aa3dbc87ba194514f27b11a81155df684c2259adde8b3f6d7b/mjbatch_uni-0.2.0.tar.gz", hash = "sha256:0e883d307f33636daaa8ed92f729c67c2ca67a5ae54b12114ef40baebf052006", size = 38231, upload-time = "2026-09-13T15:10:57.024Z" } +sdist = { url = "https://files.pythonhosted.org/packages/34/a2/c18e9faf301582adbe717bcb6a2c4e3a37cd823cce1e7f7cd09ed6f78054/mjbatch_uni-0.2.1.tar.gz", hash = "sha256:1e0b1e519ea3663896c2110ca74b18af9893fc956e962c74210ce253c6dddbd1", size = 40620, upload-time = "2026-09-14T11:57:01.89Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/bd/9c/29ded200f34bf03dbca7302c99832bcff15c2557cd11c5208612f146e4aa/mjbatch_uni-0.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:1bac2a8fc41cf61f80fbba5dc4c9690bb78ebc51faafe71f6205b60ebd9eda1f", size = 150198, upload-time = "2026-09-13T15:10:41.899Z" }, - { url = "https://files.pythonhosted.org/packages/c5/77/f3adc58f3acb7e5369865344e3fd2e165c29d6a4731dcdbb991c89868e2a/mjbatch_uni-0.2.0-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:3b4175221ccd6c50f98456f81e5f52a7709f280275e160c1341d8a64593dbf37", size = 174727, upload-time = "2026-09-13T15:10:43.174Z" }, - { url = "https://files.pythonhosted.org/packages/19/84/be3d64c4f4e40494e83948ea0a08eb00319da722d01d6bbfe6c770e97588/mjbatch_uni-0.2.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ca1da6c406959c7b3c09f5d30e20edf851f091c1b0f139cb57ab1eb69f8e40bc", size = 185121, upload-time = "2026-09-13T15:10:44.506Z" }, - { url = "https://files.pythonhosted.org/packages/fd/d9/5dba00afd7f6784740144de079cfde14ef1731533a09cbafc5bec7f945cc/mjbatch_uni-0.2.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f72e7bccfbd8e0d4f744bfc223265665f32b4e32b3a989f7f03123f811729a18", size = 149779, upload-time = "2026-09-13T15:10:45.931Z" }, - { url = "https://files.pythonhosted.org/packages/f7/55/26240fc42e3fe4f8ffc6ea6605ef72de130c7196bc69bd158527edb1f6de/mjbatch_uni-0.2.0-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:84ca4865dbcfa932cbd4e905d8c15b41fe0a8b8216761a06f9f3668bf0d92256", size = 174360, upload-time = "2026-09-13T15:10:47.138Z" }, - { url = "https://files.pythonhosted.org/packages/ee/6b/e066bad7afb095051f1dbd9aa500ca62977069ef880109757e9ff12376d5/mjbatch_uni-0.2.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:690db3ca8564c154341306c4167123dff1125c4cd334f37b7ed6e5e321b3540f", size = 184863, upload-time = "2026-09-13T15:10:48.513Z" }, - { url = "https://files.pythonhosted.org/packages/36/a4/15f256c6d3a33811bc4bdbce1649ea2d66bdfcb720f0396a4e83b6cd92ea/mjbatch_uni-0.2.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:2ff0c70adf00e19a3878ba4cd7d2549137a60ebe60a6709a92c54ad00fe41cd4", size = 148973, upload-time = "2026-09-13T15:10:49.854Z" }, - { url = "https://files.pythonhosted.org/packages/56/fe/09a9cac6b6f91b62c23c943e504ad3d2947d868a7c512bca66d59fdd88d9/mjbatch_uni-0.2.0-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:090ec1d0aa4e6abdc6cb761fe447e0cd31fba62888ed2a6897b2557ff7f69543", size = 173190, upload-time = "2026-09-13T15:10:50.987Z" }, - { url = "https://files.pythonhosted.org/packages/f6/13/65047e2fd0863133f140ec7f195ec915c88c3502f9ac785ce65ded58951f/mjbatch_uni-0.2.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:b9b9a564773698faf37ad89560cb071b50cbef4bc81743cca39602dc2e4aa512", size = 184451, upload-time = "2026-09-13T15:10:52.199Z" }, - { url = "https://files.pythonhosted.org/packages/6e/cf/b51af8bcd2b50b0c5b3497fac1bb673f3e28bccf7a2808bbb2d55a9ee88f/mjbatch_uni-0.2.0-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:5431238c5ca50be35c7efec5b3e342cd8ec450a0855a43d27aec9a277c485be6", size = 149034, upload-time = "2026-09-13T15:10:53.481Z" }, - { url = "https://files.pythonhosted.org/packages/a0/f2/8a2871c06b987b349e3e18689ce46ca952538be2ad69d34a2274e74db98b/mjbatch_uni-0.2.0-cp313-cp313-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:6a8a4be2acfd29630f133fa65f742c16b29799a3fd3069133fb54434cf29a7ea", size = 173127, upload-time = "2026-09-13T15:10:54.633Z" }, - { url = "https://files.pythonhosted.org/packages/18/48/e8d64f0e00c56e36b5ed9351e7e62129c83bacff19bbe55d53844aefa89e/mjbatch_uni-0.2.0-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:f9f40fcae35da5d8a29448bdfa62fac70c9b69440e10056f3d1e3061b400c9c9", size = 184436, upload-time = "2026-09-13T15:10:55.814Z" }, + { url = "https://files.pythonhosted.org/packages/8a/bd/0969c6cd81cb072adc9ce0423696c0f6e41626d2c15f5a5270b26d75ca73/mjbatch_uni-0.2.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c97e68b93f586e9659323d4c795f002bd972ae6d2e3f9d09683b693c279a953f", size = 153509, upload-time = "2026-09-14T11:56:45.157Z" }, + { url = "https://files.pythonhosted.org/packages/8a/ff/b1ceda253473c118cd1ff815f9b47945c74b28a2daf27eb424eef8c1cbe3/mjbatch_uni-0.2.1-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:856e0b761cf99f62b49cbb92ffe831347532ee89b3fceb2a49150070be87fea4", size = 179145, upload-time = "2026-09-14T11:56:46.682Z" }, + { url = "https://files.pythonhosted.org/packages/47/78/1fd904476bc7861dba3613b4f352db79ab433e062231aadcd56883444a73/mjbatch_uni-0.2.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ce3bb2c9991d86bd63633596f420c68f9cbea254c6d289670442ddf00b4e4b60", size = 189632, upload-time = "2026-09-14T11:56:48.252Z" }, + { url = "https://files.pythonhosted.org/packages/53/23/f7cc6fbe1cfd38ae2f6187d51944f965390a486647a1a102c7d3e98c2dbd/mjbatch_uni-0.2.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:83d6bef718a7cf900507a5c9eccf8ecd87fba54238530000142947ad85ce1653", size = 153187, upload-time = "2026-09-14T11:56:49.738Z" }, + { url = "https://files.pythonhosted.org/packages/4f/a9/379d1eeabf2843a53685dd9b3972e0aabfbddcf55952441412e05fd2908f/mjbatch_uni-0.2.1-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a2995b4b3f28f40a6d51c2c2287709732be7f5b40dab4851bed2eb7e419a78e1", size = 178812, upload-time = "2026-09-14T11:56:51.133Z" }, + { url = "https://files.pythonhosted.org/packages/b8/9b/8d2bd544b6f2994b94adcd274df50525589b2fc09a5fa27fe95d9fb75027/mjbatch_uni-0.2.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:3cf085bf81e9ae6665b9fb09585116c6f6647d17c4942312b4d6bb8d43c3bbce", size = 189163, upload-time = "2026-09-14T11:56:52.605Z" }, + { url = "https://files.pythonhosted.org/packages/fd/3a/d4fcc2c6dbe77266f6f8052027c02afbc119ee4549515e3b604895c241e4/mjbatch_uni-0.2.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:9b0f1fc17b4b86821c6ad12172c94cac74c66f7037f6cef9c3313537892f3aa7", size = 152530, upload-time = "2026-09-14T11:56:53.944Z" }, + { url = "https://files.pythonhosted.org/packages/0b/97/59028d7cf3013ff3338e532ce8bb24751c2f576b7788694e7d7a305a0b19/mjbatch_uni-0.2.1-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d4dc7191fab864ca90bf4487e76c3532fa03acd8706b0d68b4982a4701aa8ea5", size = 177815, upload-time = "2026-09-14T11:56:55.252Z" }, + { url = "https://files.pythonhosted.org/packages/6e/8c/9ef3599097716b91c38267c257e50803e9b97dc8f27de00353a83e7b11cc/mjbatch_uni-0.2.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d8d1f28f89423ebc7c5866a29eb484b5eb8c51a99d2e9a1f7dbdbccbfec351f1", size = 188542, upload-time = "2026-09-14T11:56:56.581Z" }, + { url = "https://files.pythonhosted.org/packages/c6/b9/9cea39c4ba62f2ced3d27792bc6c9ec12025aa16009abc03da541934aeed/mjbatch_uni-0.2.1-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:94f2733e14db8e4a4e950c58946238e1ba9c30e34d4ec66c2ebff2b294ee2446", size = 152555, upload-time = "2026-09-14T11:56:57.931Z" }, + { url = "https://files.pythonhosted.org/packages/1a/84/ffb05411354f76e4996385ce14e704ae16f0b2db19393b8339867462e25d/mjbatch_uni-0.2.1-cp313-cp313-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:7d7b86106de25c97d5b564e82a303457065a0d6fde34003eb0ed7a2e986b019a", size = 177741, upload-time = "2026-09-14T11:56:59.202Z" }, + { url = "https://files.pythonhosted.org/packages/a8/46/24ab7269337d59b2a4aa56b0a3a19b9a0705ab3493ca5cf35dbae4177263/mjbatch_uni-0.2.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1015c207179989a2b7c5324e1a684b26272dffb1ab056ada03d6ebbb0d2f4208", size = 188406, upload-time = "2026-09-14T11:57:00.567Z" }, ] [[package]] @@ -5210,7 +5210,7 @@ requires-dist = [ { name = "imgui-bundle", marker = "extra == 'newton'", specifier = ">=1.92.0" }, { name = "lark", specifier = ">=1.3.1" }, { name = "mediapy" }, - { name = "mjbatch-uni", marker = "extra == 'mujoco'", specifier = "~=0.2.0" }, + { name = "mjbatch-uni", marker = "extra == 'mujoco'", specifier = "~=0.2.1" }, { name = "motrixsim-core", marker = "extra == 'motrix'", specifier = "==0.8.2" }, { name = "mujoco", marker = "extra == 'drake'", specifier = ">=3.5" }, { name = "mujoco", marker = "extra == 'mujoco'", specifier = "~=3.11.0" }, @@ -5240,8 +5240,8 @@ requires-dist = [ { name = "trimesh", marker = "extra == 'viser'", specifier = ">=3.21.7" }, { name = "typing-extensions" }, { name = "unilab-rl", specifier = "==1.2.0" }, - { name = "unisim-core", specifier = ">=1.3.0" }, - { name = "unisim-core", extras = ["superdex"], marker = "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'superdex'", specifier = ">=1.3.0" }, + { name = "unisim-core", specifier = ">=1.4.0" }, + { name = "unisim-core", extras = ["superdex"], marker = "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'superdex'", specifier = ">=1.4.0" }, { name = "viser", marker = "extra == 'viser'", specifier = ">=1.0.26" }, { name = "wandb" }, { name = "warp-lang", marker = "extra == 'mjwarp'", specifier = "==1.16.0" }, @@ -5284,13 +5284,13 @@ wheels = [ [[package]] name = "unisim-core" -version = "1.3.0" +version = "1.4.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, { name = "numpy", version = "2.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/0f/f2/eab9d0ec83763cda631e978d805cb451187fb6b4ee6addde636d74ad3c48/unisim_core-1.3.0.tar.gz", hash = "sha256:17ddf3c4b0799d920f565ad30aa545b554e91167be79f1ea8fcbb790a9341463", size = 262820, upload-time = "2026-09-13T15:36:43.82Z" } +sdist = { url = "https://files.pythonhosted.org/packages/fa/cf/639036c780e264389d54f30e58c0a862d52b724be6f17cc62cba5bb9780a/unisim_core-1.4.0.tar.gz", hash = "sha256:cc7db53d779af7b1612615aa3a0216575a3236f508520b63d358f86af326adee", size = 266406, upload-time = "2026-09-14T13:08:44.977Z" } [package.optional-dependencies] superdex = [ diff --git a/uv.rocm.lock b/uv.rocm.lock index 6484eefc8..c206786e5 100644 --- a/uv.rocm.lock +++ b/uv.rocm.lock @@ -1686,27 +1686,27 @@ wheels = [ [[package]] name = "mjbatch-uni" -version = "0.2.0" +version = "0.2.1" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "mujoco" }, { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, { name = "numpy", version = "2.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/fa/d7/0353b4cff9aa3dbc87ba194514f27b11a81155df684c2259adde8b3f6d7b/mjbatch_uni-0.2.0.tar.gz", hash = "sha256:0e883d307f33636daaa8ed92f729c67c2ca67a5ae54b12114ef40baebf052006", size = 38231, upload-time = "2026-09-13T15:10:57.024Z" } +sdist = { url = "https://files.pythonhosted.org/packages/34/a2/c18e9faf301582adbe717bcb6a2c4e3a37cd823cce1e7f7cd09ed6f78054/mjbatch_uni-0.2.1.tar.gz", hash = "sha256:1e0b1e519ea3663896c2110ca74b18af9893fc956e962c74210ce253c6dddbd1", size = 40620, upload-time = "2026-09-14T11:57:01.89Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/bd/9c/29ded200f34bf03dbca7302c99832bcff15c2557cd11c5208612f146e4aa/mjbatch_uni-0.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:1bac2a8fc41cf61f80fbba5dc4c9690bb78ebc51faafe71f6205b60ebd9eda1f", size = 150198, upload-time = "2026-09-13T15:10:41.899Z" }, - { url = "https://files.pythonhosted.org/packages/c5/77/f3adc58f3acb7e5369865344e3fd2e165c29d6a4731dcdbb991c89868e2a/mjbatch_uni-0.2.0-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:3b4175221ccd6c50f98456f81e5f52a7709f280275e160c1341d8a64593dbf37", size = 174727, upload-time = "2026-09-13T15:10:43.174Z" }, - { url = "https://files.pythonhosted.org/packages/19/84/be3d64c4f4e40494e83948ea0a08eb00319da722d01d6bbfe6c770e97588/mjbatch_uni-0.2.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ca1da6c406959c7b3c09f5d30e20edf851f091c1b0f139cb57ab1eb69f8e40bc", size = 185121, upload-time = "2026-09-13T15:10:44.506Z" }, - { url = "https://files.pythonhosted.org/packages/fd/d9/5dba00afd7f6784740144de079cfde14ef1731533a09cbafc5bec7f945cc/mjbatch_uni-0.2.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f72e7bccfbd8e0d4f744bfc223265665f32b4e32b3a989f7f03123f811729a18", size = 149779, upload-time = "2026-09-13T15:10:45.931Z" }, - { url = "https://files.pythonhosted.org/packages/f7/55/26240fc42e3fe4f8ffc6ea6605ef72de130c7196bc69bd158527edb1f6de/mjbatch_uni-0.2.0-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:84ca4865dbcfa932cbd4e905d8c15b41fe0a8b8216761a06f9f3668bf0d92256", size = 174360, upload-time = "2026-09-13T15:10:47.138Z" }, - { url = "https://files.pythonhosted.org/packages/ee/6b/e066bad7afb095051f1dbd9aa500ca62977069ef880109757e9ff12376d5/mjbatch_uni-0.2.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:690db3ca8564c154341306c4167123dff1125c4cd334f37b7ed6e5e321b3540f", size = 184863, upload-time = "2026-09-13T15:10:48.513Z" }, - { url = "https://files.pythonhosted.org/packages/36/a4/15f256c6d3a33811bc4bdbce1649ea2d66bdfcb720f0396a4e83b6cd92ea/mjbatch_uni-0.2.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:2ff0c70adf00e19a3878ba4cd7d2549137a60ebe60a6709a92c54ad00fe41cd4", size = 148973, upload-time = "2026-09-13T15:10:49.854Z" }, - { url = "https://files.pythonhosted.org/packages/56/fe/09a9cac6b6f91b62c23c943e504ad3d2947d868a7c512bca66d59fdd88d9/mjbatch_uni-0.2.0-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:090ec1d0aa4e6abdc6cb761fe447e0cd31fba62888ed2a6897b2557ff7f69543", size = 173190, upload-time = "2026-09-13T15:10:50.987Z" }, - { url = "https://files.pythonhosted.org/packages/f6/13/65047e2fd0863133f140ec7f195ec915c88c3502f9ac785ce65ded58951f/mjbatch_uni-0.2.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:b9b9a564773698faf37ad89560cb071b50cbef4bc81743cca39602dc2e4aa512", size = 184451, upload-time = "2026-09-13T15:10:52.199Z" }, - { url = "https://files.pythonhosted.org/packages/6e/cf/b51af8bcd2b50b0c5b3497fac1bb673f3e28bccf7a2808bbb2d55a9ee88f/mjbatch_uni-0.2.0-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:5431238c5ca50be35c7efec5b3e342cd8ec450a0855a43d27aec9a277c485be6", size = 149034, upload-time = "2026-09-13T15:10:53.481Z" }, - { url = "https://files.pythonhosted.org/packages/a0/f2/8a2871c06b987b349e3e18689ce46ca952538be2ad69d34a2274e74db98b/mjbatch_uni-0.2.0-cp313-cp313-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:6a8a4be2acfd29630f133fa65f742c16b29799a3fd3069133fb54434cf29a7ea", size = 173127, upload-time = "2026-09-13T15:10:54.633Z" }, - { url = "https://files.pythonhosted.org/packages/18/48/e8d64f0e00c56e36b5ed9351e7e62129c83bacff19bbe55d53844aefa89e/mjbatch_uni-0.2.0-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:f9f40fcae35da5d8a29448bdfa62fac70c9b69440e10056f3d1e3061b400c9c9", size = 184436, upload-time = "2026-09-13T15:10:55.814Z" }, + { url = "https://files.pythonhosted.org/packages/8a/bd/0969c6cd81cb072adc9ce0423696c0f6e41626d2c15f5a5270b26d75ca73/mjbatch_uni-0.2.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c97e68b93f586e9659323d4c795f002bd972ae6d2e3f9d09683b693c279a953f", size = 153509, upload-time = "2026-09-14T11:56:45.157Z" }, + { url = "https://files.pythonhosted.org/packages/8a/ff/b1ceda253473c118cd1ff815f9b47945c74b28a2daf27eb424eef8c1cbe3/mjbatch_uni-0.2.1-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:856e0b761cf99f62b49cbb92ffe831347532ee89b3fceb2a49150070be87fea4", size = 179145, upload-time = "2026-09-14T11:56:46.682Z" }, + { url = "https://files.pythonhosted.org/packages/47/78/1fd904476bc7861dba3613b4f352db79ab433e062231aadcd56883444a73/mjbatch_uni-0.2.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ce3bb2c9991d86bd63633596f420c68f9cbea254c6d289670442ddf00b4e4b60", size = 189632, upload-time = "2026-09-14T11:56:48.252Z" }, + { url = "https://files.pythonhosted.org/packages/53/23/f7cc6fbe1cfd38ae2f6187d51944f965390a486647a1a102c7d3e98c2dbd/mjbatch_uni-0.2.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:83d6bef718a7cf900507a5c9eccf8ecd87fba54238530000142947ad85ce1653", size = 153187, upload-time = "2026-09-14T11:56:49.738Z" }, + { url = "https://files.pythonhosted.org/packages/4f/a9/379d1eeabf2843a53685dd9b3972e0aabfbddcf55952441412e05fd2908f/mjbatch_uni-0.2.1-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a2995b4b3f28f40a6d51c2c2287709732be7f5b40dab4851bed2eb7e419a78e1", size = 178812, upload-time = "2026-09-14T11:56:51.133Z" }, + { url = "https://files.pythonhosted.org/packages/b8/9b/8d2bd544b6f2994b94adcd274df50525589b2fc09a5fa27fe95d9fb75027/mjbatch_uni-0.2.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:3cf085bf81e9ae6665b9fb09585116c6f6647d17c4942312b4d6bb8d43c3bbce", size = 189163, upload-time = "2026-09-14T11:56:52.605Z" }, + { url = "https://files.pythonhosted.org/packages/fd/3a/d4fcc2c6dbe77266f6f8052027c02afbc119ee4549515e3b604895c241e4/mjbatch_uni-0.2.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:9b0f1fc17b4b86821c6ad12172c94cac74c66f7037f6cef9c3313537892f3aa7", size = 152530, upload-time = "2026-09-14T11:56:53.944Z" }, + { url = "https://files.pythonhosted.org/packages/0b/97/59028d7cf3013ff3338e532ce8bb24751c2f576b7788694e7d7a305a0b19/mjbatch_uni-0.2.1-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d4dc7191fab864ca90bf4487e76c3532fa03acd8706b0d68b4982a4701aa8ea5", size = 177815, upload-time = "2026-09-14T11:56:55.252Z" }, + { url = "https://files.pythonhosted.org/packages/6e/8c/9ef3599097716b91c38267c257e50803e9b97dc8f27de00353a83e7b11cc/mjbatch_uni-0.2.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d8d1f28f89423ebc7c5866a29eb484b5eb8c51a99d2e9a1f7dbdbccbfec351f1", size = 188542, upload-time = "2026-09-14T11:56:56.581Z" }, + { url = "https://files.pythonhosted.org/packages/c6/b9/9cea39c4ba62f2ced3d27792bc6c9ec12025aa16009abc03da541934aeed/mjbatch_uni-0.2.1-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:94f2733e14db8e4a4e950c58946238e1ba9c30e34d4ec66c2ebff2b294ee2446", size = 152555, upload-time = "2026-09-14T11:56:57.931Z" }, + { url = "https://files.pythonhosted.org/packages/1a/84/ffb05411354f76e4996385ce14e704ae16f0b2db19393b8339867462e25d/mjbatch_uni-0.2.1-cp313-cp313-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:7d7b86106de25c97d5b564e82a303457065a0d6fde34003eb0ed7a2e986b019a", size = 177741, upload-time = "2026-09-14T11:56:59.202Z" }, + { url = "https://files.pythonhosted.org/packages/a8/46/24ab7269337d59b2a4aa56b0a3a19b9a0705ab3493ca5cf35dbae4177263/mjbatch_uni-0.2.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1015c207179989a2b7c5324e1a684b26272dffb1ab056ada03d6ebbb0d2f4208", size = 188406, upload-time = "2026-09-14T11:57:00.567Z" }, ] [[package]] @@ -3770,7 +3770,7 @@ requires-dist = [ { name = "imageio-ffmpeg", specifier = ">=0.6.0" }, { name = "lark", specifier = ">=1.3.1" }, { name = "mediapy" }, - { name = "mjbatch-uni", marker = "extra == 'mujoco'", specifier = "~=0.2.0" }, + { name = "mjbatch-uni", marker = "extra == 'mujoco'", specifier = "~=0.2.1" }, { name = "motrixsim-core", marker = "extra == 'motrix'", specifier = "==0.8.2" }, { name = "mujoco", marker = "extra == 'mujoco'", specifier = "~=3.11.0" }, { name = "ninja", marker = "sys_platform == 'linux'" }, @@ -3790,7 +3790,7 @@ requires-dist = [ { name = "triton-rocm", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'", specifier = "==3.6.0", index = "https://download.pytorch.org/whl/rocm7.2" }, { name = "typing-extensions" }, { name = "unilab-rl", specifier = "==1.2.0" }, - { name = "unisim-core", specifier = ">=1.3.0" }, + { name = "unisim-core", specifier = ">=1.4.0" }, { name = "viser", marker = "extra == 'viser'", specifier = ">=1.0.26" }, { name = "wandb" }, ] @@ -3830,13 +3830,13 @@ wheels = [ [[package]] name = "unisim-core" -version = "1.3.0" +version = "1.4.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, { name = "numpy", version = "2.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/0f/f2/eab9d0ec83763cda631e978d805cb451187fb6b4ee6addde636d74ad3c48/unisim_core-1.3.0.tar.gz", hash = "sha256:17ddf3c4b0799d920f565ad30aa545b554e91167be79f1ea8fcbb790a9341463", size = 262820, upload-time = "2026-09-13T15:36:43.82Z" } +sdist = { url = "https://files.pythonhosted.org/packages/fa/cf/639036c780e264389d54f30e58c0a862d52b724be6f17cc62cba5bb9780a/unisim_core-1.4.0.tar.gz", hash = "sha256:cc7db53d779af7b1612615aa3a0216575a3236f508520b63d358f86af326adee", size = 266406, upload-time = "2026-09-14T13:08:44.977Z" } [[package]] name = "urllib3"