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build: pin UniSim 1.5.1 and compare MuJoCo collector throughput #1601

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build: pin UniSim 1.5.1 and compare MuJoCo collector throughput #1601

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7 changes: 3 additions & 4 deletions pyproject.rocm.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
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9 changes: 4 additions & 5 deletions pyproject.toml
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Expand Up @@ -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
Expand Down Expand Up @@ -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]
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