diff --git a/pyproject.rocm.toml b/pyproject.rocm.toml index 93770addb..8ab3ed926 100644 --- a/pyproject.rocm.toml +++ b/pyproject.rocm.toml @@ -24,10 +24,9 @@ requires-python = ">=3.10,<3.14" dependencies = [ "numpy", # Physics implementations are provided by the independently released - # unisim-core package. The 1.4.2 release carries the fixed model variant, - # per-world reset-default, per-env gravity, substep body-wrench, and - # IsaacGym fixed-variant contracts. - "unisim-core>=1.4.2", + # unisim-core package. Pin the released adapter semantics validated by the + # MuJoCo collector comparison in scripts/benchmark/reports/. + "unisim-core==1.5.1", # RL algorithms and async runtimes live in the independently released # uni-rl package (distribution name ``unilab-rl``); see pyproject.toml. "unilab-rl==1.2.1", diff --git a/pyproject.toml b/pyproject.toml index 5637d1bfe..3bc1e0992 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -39,10 +39,9 @@ requires-python = ">=3.10,<3.14" dependencies = [ "numpy", # Physics implementations are provided by the independently released - # unisim-core package. The 1.4.2 release carries the fixed model variant, - # per-world reset-default, per-env gravity, substep body-wrench, and - # IsaacGym fixed-variant contracts. - "unisim-core>=1.4.2", + # unisim-core package. Pin the released adapter semantics validated by the + # MuJoCo collector comparison in scripts/benchmark/reports/. + "unisim-core==1.5.1", # 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 @@ -170,7 +169,7 @@ 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]>=1.4.2 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'", + "unisim-core[superdex]==1.5.1 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'", ] [dependency-groups] diff --git a/scripts/benchmark/reports/unisim_1_4_0_vs_1_5_1_collector.json b/scripts/benchmark/reports/unisim_1_4_0_vs_1_5_1_collector.json new file mode 100644 index 000000000..f5df1226b --- /dev/null +++ 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"dr_reset_observation_compute_obs_ms": 0.0, + "dr_reset_observation_internal_gap_ms": 0.0, + "set_state_mask_ms": 0.0, + "set_state_data_slice_ms": 0.0, + "set_state_data_reset_ms": 0.0, + "set_state_clear_forces_ms": 0.0, + "set_state_geom_overrides_ms": 0.0, + "set_state_reset_rand_ms": 0.0, + "set_state_set_dof_vel_ms": 0.0, + "set_state_set_dof_pos_ms": 0.0, + "set_state_actuator_ctrl_ms": 0.0, + "set_state_forward_kinematic_ms": 0.0, + "set_state_refresh_pose_cache_ms": 0.0, + "set_state_invalidate_velocity_ms": 0.0, + "set_state_qpos_convert_ms": 0.0, + "set_state_pool_reset_ms": 0.0, + "set_state_state_scatter_ms": 0.0, + "set_state_reset_upload_ms": 0.0, + "set_state_reset_forward_ms": 0.0, + "set_state_host_cache_refresh_ms": 0.0, + "set_state_internal_gap_ms": 0.0, + "reset_done_count": 0.0 + }, + "reset_count": 0.0 + } + ], + "excluded_case": { + "case": "flashsac/g1_walk_flat/mujoco", + "version": "1.4.0", + "status": "construction_failed", + "root_error": "mesh pelvis_contour_link.STL resolved under g1/ instead of g1/assets/", + "secondary_error": "_materialize_spec_xml exception cleanup double-close reports OSError EBADF", + "no_throughput_claim": true + }, + "limitations": [ + "Only Go2 flat, MuJoCo CPU; no other engine benchmark", + "No resets occurred in any measured window", + "3 process repetitions per version and batch size; desktop background activity not isolated", + "1.5.1 fixes final-body-state freshness; same task intent does not imply equivalent observation semantics", + "Earlier 1.5.0 comparison was aborted after baseline correction and is excluded" + ] +} diff --git a/scripts/benchmark/reports/unisim_1_4_0_vs_1_5_1_collector.md b/scripts/benchmark/reports/unisim_1_4_0_vs_1_5_1_collector.md new file mode 100644 index 000000000..7e5811fe1 --- /dev/null +++ b/scripts/benchmark/reports/unisim_1_4_0_vs_1_5_1_collector.md @@ -0,0 +1,68 @@ +# MuJoCo collector：UniSim 1.4.0 → 1.5.1 + +在相同 UniLab 代码和 Go2 任务配置下，1.5.1 的 collector 活跃窗口吞吐比 1.4.0 低：1024 环境下降 **36.47%**，4096 环境下降 **42.57%**。三对运行均出现下降，主要增量位于状态更新阶段。本次依赖更新仍按请求精确固定为 `unisim-core==1.5.1`，没有关闭新版正确性修复来提高分数。 + +## 结果 + +单位是 **环境 transition/s**，每格为三次独立进程运行的中位数及最小—最大范围，不是 physics substep/s 或训练吞吐。 + +| 环境数 | 1.4.0 | 1.5.1 | 中位数变化 | +| --- | ---: | ---: | ---: | +| 1024 | 138,780（131,699–141,773） | 88,167（82,537–89,607） | −36.47% | +| 4096 | 209,773（206,357–209,957） | 120,476（117,284–120,949） | −42.57% | + +逐对变化：1024 环境为 −36.80%、−40.53%、−33.05%；4096 环境为 −42.57%、−44.14%、−41.39%。未丢弃慢样本。 + +下表为每次运行的 vector-step 阶段均值，再对三次运行取中位数；各列独立取中位数，不保证其和等于总时长的中位数。 + +| 环境数 | Physics，旧→新 | Update state，旧→新 | Replay，旧→新 | +| --- | ---: | ---: | ---: | +| 1024 | 5.743 → 6.306 ms | 1.012 → 4.443 ms | 0.524 → 0.581 ms | +| 4096 | 16.344 → 16.811 ms | 2.482 → 15.994 ms | 0.465 → 0.941 ms | + +12 次运行的计量窗口中 **reset 数量全部为零**，所以本结果不覆盖 reset 吞吐，也不能用 M2 稀疏 reset 的消融结果解释本次变化。 + +## 测试条件与口径 + +- 测量时两版本使用同一 UniLab 提交 `84a00d049eeac9292bbd58c25fcd06a4b64cd712`；没有混入尚未合入的 M2 消费代码。该版本适用于历史 1.4.0。依赖更新附带的默认字段声明和旧单测 fixture 适配发生在测量之后，不改变 collector 热循环。 +- 入口为既有 `scripts/benchmark/rl/benchmark_offpolicy_collector_active.py`，案例 `flashsac/go2_joystick_flat/mujoco`。Actor obs=49、critic obs=52、action=12。 +- CPU：AMD Ryzen 9 9950X3D2，16 物理核；固定进程和 MuJoCo worker 到 CPU 0–7，共 8 个不同物理核，不使用它们的 SMT siblings 16–23。Torch、OpenMP、BLAS、Numba 线程均固定为 8。未运行其他引擎 benchmark，MuJoCo 和 replay 均在 CPU。 +- Python 3.13.14、MuJoCo 3.11.0、mjbatch-uni 0.2.1、NumPy 2.4.4、Torch 2.8.0+cu128、unilab-rl 1.2.1。每次切换用 `uv pip install --no-deps`，逐次核对全部 133 个非 UniSim 包版本一致。 +- `algo.seed=1` 与 `env.seed=1`，动作全零；每次新进程预热 30 个 vector steps，再计量 300 步；ReplayBuffer 容量为 64 个 vector steps。 +- 每版本、每规模重复三次，串行执行。1024 环境顺序为 A/B、B/A、A/B；4096 为 B/A、A/B、B/A，A=1.4.0、B=1.5.1。没有把此前错误基线 1.5.0 的运行混入统计。 +- 指标为 `N × 300 / Σ(env_step + replay + bookkeeping)`；包括环境步进、奖励、终止处理、ReplayBuffer 写入/发布/提交和 collector 记账。不含策略推理、learner 等待、跨进程 IPC、初始化和进程总时长。 +- CPU affinity 不是独占 CPU；后台负载、频率和温度未隔离。只有三次进程重复，不据此推广所有任务、机器或训练配置。 + +## 分析与不能推断的内容 + +[1.4.0…1.5.1 源码差异](https://github.com/unilabsim/unisim/compare/v1.4.0...v1.5.1)包含 M0 状态正确性修复。新版 MuJoCo `_sync_tracked_body_state()` 在 step 后首次 body 查询时，逐 dirty environment 同步最终运动学/速度及 tracking sensor；旧版直接读取已有缓存。UniLab 的 body 状态查询会消费这条路径。因此，“physics 基本接近、update state 大幅增加”与新增刷新工作一致。 + +这是有源码支撑的候选解释，不是关闭该路径后的因果消融；本轮没有为跑分禁用刷新、修改旧包或调整任务物理配置。新版也修正了旧状态读数，因此版本间并非单纯执行完全等价语义的速度竞赛。后续性能优化应保留最终状态新鲜度，并针对该同步路径单独验证，不能直接恢复旧缓存行为。 + +G1 平地行走曾做兼容预检，但 1.4.0 在 sensor XML 物化时将 `pelvis_contour_link.STL` 解析到 `g1/` 而非已有的 `g1/assets/`，构造失败；其异常清理还以 `OSError: Bad file descriptor` 覆盖了原始错误。该任务没有吞吐结果，未纳入表格。 + +## 复现与证据 + +在隔离 checkout/venv 中使用上述 UniLab 提交与其余锁定依赖。历史 1.4.0 不满足当前项目 manifest，是通过 `--no-sync` 显式执行的兼容性实验；生产安装和最终 lock 均为 1.5.1。 + +```bash +uv sync --locked --extra mujoco +uv run unilab-pull-assets --robot go2 +# 分别将 VERSION 设为 1.4.0、1.5.1；按上面的交替顺序重复三次。 +VERSION=1.4.0 +uv pip install --python .venv/bin/python --no-deps "unisim-core==$VERSION" +taskset -c 0-7 env \ + UNILAB_COLLECTOR_TORCH_THREADS=8 OMP_NUM_THREADS=8 \ + OPENBLAS_NUM_THREADS=8 MKL_NUM_THREADS=8 NUMBA_NUM_THREADS=8 \ + CUDA_VISIBLE_DEVICES= MUJOCO_GL=disable \ + uv run --no-sync python scripts/benchmark/rl/benchmark_offpolicy_collector_active.py \ + --cases flashsac/go2_joystick_flat/mujoco --num-envs 1024 \ + --warmup-steps 30 --measure-steps 300 --replay-capacity-steps 64 \ + --override algo.seed=1 --override '++env.seed=1' \ + --override '++env.cpu_ids=[0,1,2,3,4,5,6,7]' \ + --out-json /tmp/collector-140-n1024-r1.json +# 同样运行 --num-envs 4096；完成后恢复项目锁定依赖。 +uv sync --locked --extra mujoco +``` + +[汇总 JSON](unisim_1_4_0_vs_1_5_1_collector.json)保存每次吞吐、阶段均值、精确版本、CPU/seed、asset/benchmark hash、原始文件 SHA256 和运行顺序。[完整原始结果 gzip](unisim_1_4_0_vs_1_5_1_collector.raw.json.gz)保留全部 12 次 benchmark 输出、逐步计时与实际命令。原始运行日志另位于忽略目录 `scripts/benchmark/outputs/unisim_1_4_0_vs_1_5_1_collector/`。 diff --git a/scripts/benchmark/reports/unisim_1_4_0_vs_1_5_1_collector.raw.json.gz b/scripts/benchmark/reports/unisim_1_4_0_vs_1_5_1_collector.raw.json.gz new file mode 100644 index 000000000..27d7d8114 Binary files /dev/null and b/scripts/benchmark/reports/unisim_1_4_0_vs_1_5_1_collector.raw.json.gz differ diff --git a/src/unilab/base/scene.py b/src/unilab/base/scene.py index 10668cec7..384219962 100644 --- a/src/unilab/base/scene.py +++ b/src/unilab/base/scene.py @@ -26,7 +26,7 @@ class SceneCfg(_UniSimSceneCfg): manager facade's :class:`EntityCfg` records on the cold configuration path. """ - model_file: str + model_file: str = "" fragment_files: list[str] = field(default_factory=list) terrain: TerrainSceneCfg | None = None entities: dict[str, object] = field(default_factory=dict) diff --git a/tests/base/test_backend_conformance.py b/tests/base/test_backend_conformance.py index f7ec1b44d..e22cdf4ef 100644 --- a/tests/base/test_backend_conformance.py +++ b/tests/base/test_backend_conformance.py @@ -399,16 +399,13 @@ def test_root_qvel_body_angular_contract_reads_back_world_velocity(backend_type: ) -def test_mujoco_root_layout_resolves_a_nonfirst_free_joint() -> None: - import mujoco - +def test_mujoco_root_layout_resolves_a_nonfirst_free_joint(tmp_path: Path) -> None: pytest.importorskip( "unisim.backend.mujoco.backend", reason="unisim-core MuJoCo adapter (mjbatch build) not available", ) - from unisim.backend.mujoco.backend import MuJoCoBackend - - model = mujoco.MjModel.from_xml_string( + source = tmp_path / "nonfirst-root.xml" + source.write_text( """ @@ -424,14 +421,17 @@ def test_mujoco_root_layout_resolves_a_nonfirst_free_joint() -> None: """ ) - backend = object.__new__(MuJoCoBackend) - backend._model = model - - layout = backend.get_root_state_layout("floating") - assert layout.qpos_indices == tuple(range(1, 8)) - assert layout.qvel_indices == tuple(range(1, 7)) - with pytest.raises(NotImplementedError, match="hinged.*exactly one free joint"): - backend.get_root_state_layout("hinged") + backend = create_backend( + "mujoco", SceneCfg(model_file=str(source)), 1, SIM_DT, base_name="floating" + ) + try: + layout = backend.get_root_state_layout("floating") + assert layout.qpos_indices == tuple(range(1, 8)) + assert layout.qvel_indices == tuple(range(1, 7)) + with pytest.raises(NotImplementedError, match="hinged.*exactly one free joint"): + backend.get_root_state_layout("hinged") + finally: + backend.close() def test_drake_root_layout_is_explicitly_unsupported_without_runtime_metadata() -> None: diff --git a/tests/base/test_backend_pre_step_control.py b/tests/base/test_backend_pre_step_control.py index 1516db424..8500ee270 100644 --- a/tests/base/test_backend_pre_step_control.py +++ b/tests/base/test_backend_pre_step_control.py @@ -136,6 +136,10 @@ def _fake_mujoco_backend(pre_step_control_fn=None): pool = _FakeMjBatch() backend = object.__new__(MuJoCoBackend) + backend._entity_layout = None + backend._tracked_body_state_dirty = np.zeros(1, dtype=np.bool_) + backend._tracked_sensor_slices = {} + backend._refresh_pre_step_body_state = True backend._pre_step_control_fn = pre_step_control_fn backend._tracked_sensor_copyout_range = None backend._num_envs = 1 diff --git a/tests/base/test_isaacsim_backend.py b/tests/base/test_isaacsim_backend.py index 40c4421af..283ceb4da 100644 --- a/tests/base/test_isaacsim_backend.py +++ b/tests/base/test_isaacsim_backend.py @@ -31,10 +31,8 @@ build_worker_env, resolve_isaacsim_runtime, ) -from unisim.backend.isaacsim.worker import ( - _quat_rotate_wxyz, - _resolve_articulation_root_prim_path, -) +from unisim.backend.isaacsim.scene_worker import _rotate +from unisim.backend.isaacsim.worker import _resolve_articulation_root_prim_path from unilab.base.backend_factory import create_backend from unilab.base.base import EnvCfg @@ -379,7 +377,7 @@ def test_interactive_renderer_roundtrip(scene_file: str, monkeypatch: pytest.Mon backend.close() -def test_interactive_playback_routes_startup_dimensions_and_camera( +def test_interactive_playback_routes_dimensions_and_rejects_ignored_camera_options( scene_file: str, monkeypatch: pytest.MonkeyPatch ) -> None: monkeypatch.setenv("DISPLAY", ":0") @@ -406,11 +404,7 @@ def record_init_renderer(*args: Any, **kwargs: Any) -> None: num_steps=1, headless=False, record_video=False, - camera_kwargs={ - "cam_distance": 3.0, - "cam_elevation": -15.0, - "cam_azimuth": 45.0, - }, + camera_kwargs=CameraCfg(), ) assert result is None assert init_calls == [ @@ -418,13 +412,19 @@ def record_init_renderer(*args: Any, **kwargs: Any) -> None: "headless": False, "width": 64, "height": 48, - "camera_kwargs": CameraCfg( - cam_distance=3.0, - cam_elevation=-15.0, - cam_azimuth=45.0, - ), + "camera_kwargs": CameraCfg(), } ] + with pytest.raises(NotImplementedError, match="interactive viewers"): + backend.run_playback( + env=SimpleNamespace(cfg=None), + initialize=lambda: 0, + step=lambda obs: obs + 1, + num_steps=1, + headless=False, + record_video=False, + camera_kwargs={"cam_distance": 3.0}, + ) finally: backend.close() @@ -536,7 +536,7 @@ def test_root_angular_velocity_helper_converts_body_to_world() -> None: half = np.sqrt(0.5) quat = np.array([[half, half, 0.0, 0.0]], dtype=np.float32) body_angvel = np.array([[0.0, -1.0, 0.0]], dtype=np.float32) - np.testing.assert_allclose(_quat_rotate_wxyz(quat, body_angvel), [[0.0, 0.0, -1.0]], atol=1e-6) + np.testing.assert_allclose(_rotate(quat, body_angvel), [[0.0, 0.0, -1.0]], atol=1e-6) class _FakePrim: diff --git a/uv.lock b/uv.lock index d6919a5a9..3dc93feec 100644 --- a/uv.lock +++ b/uv.lock @@ -5240,8 +5240,8 @@ requires-dist = [ { name = "trimesh", marker = "extra == 'viser'", specifier = ">=3.21.7" }, { name = "typing-extensions" }, { name = "unilab-rl", specifier = "==1.2.1" }, - { name = "unisim-core", specifier = ">=1.4.2" }, - { name = "unisim-core", extras = ["superdex"], marker = "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'superdex'", specifier = ">=1.4.2" }, + { name = "unisim-core", specifier = "==1.5.1" }, + { name = "unisim-core", extras = ["superdex"], marker = "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'superdex'", specifier = "==1.5.1" }, { 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 = "1.4.2" +version = "1.5.1" 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/b9/e7/5954d490d66facf3449f1032d5cc13288fb4fd1166eaba4eea8987c4f4ca/unisim_core-1.4.2.tar.gz", hash = "sha256:e27d89292083cdff646d2dbeb0ac787ee4351e7ef811c20c6fed2a40578785b7", size = 269413, upload-time = "2026-09-16T04:22:39.708Z" } +sdist = { url = "https://files.pythonhosted.org/packages/ce/a5/aaa2505237af593ee495963a537893e71a7452fb376e6881d8fb5e4d7695/unisim_core-1.5.1.tar.gz", hash = "sha256:49c5b178ba2e513a0eeebd0c42048a56d72fa1d563f2c66457268130a26ba5af", size = 354707, upload-time = "2026-09-17T04:56:46.441Z" } [package.optional-dependencies] superdex = [ diff --git a/uv.rocm.lock b/uv.rocm.lock index 7725f2723..e5b42b606 100644 --- a/uv.rocm.lock +++ b/uv.rocm.lock @@ -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 = "==1.2.1" }, - { name = "unisim-core", specifier = ">=1.4.2" }, + { name = "unisim-core", specifier = "==1.5.1" }, { name = "viser", marker = "extra == 'viser'", specifier = ">=1.0.26" }, { name = "wandb" }, ] @@ -3830,13 +3830,13 @@ wheels = [ [[package]] name = "unisim-core" -version = "1.4.2" +version = "1.5.1" 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/b9/e7/5954d490d66facf3449f1032d5cc13288fb4fd1166eaba4eea8987c4f4ca/unisim_core-1.4.2.tar.gz", hash = "sha256:e27d89292083cdff646d2dbeb0ac787ee4351e7ef811c20c6fed2a40578785b7", size = 269413, upload-time = "2026-09-16T04:22:39.708Z" } +sdist = { url = "https://files.pythonhosted.org/packages/ce/a5/aaa2505237af593ee495963a537893e71a7452fb376e6881d8fb5e4d7695/unisim_core-1.5.1.tar.gz", hash = "sha256:49c5b178ba2e513a0eeebd0c42048a56d72fa1d563f2c66457268130a26ba5af", size = 354707, upload-time = "2026-09-17T04:56:46.441Z" } [[package]] name = "urllib3"