From 230e71c5fffe3e3b40ace9688b437def1eb68889 Mon Sep 17 00:00:00 2001 From: TATP-233 Date: Thu, 10 Sep 2026 13:49:06 +0800 Subject: [PATCH] feat(superdex): published-wheel install, FR3 HF assets, unisim-core/unilab-rl 1.2.0 - Add the `superdex` optional extra delegating to `unisim-core[superdex]` (published SuperDex Physics/Robotics wheels, CPython 3.12/3.13 on Linux x86_64), replacing the temporary source-build setup; simplify the bilingual installation docs accordingly. - Guard `sim=mujoco` runtime checks on the `mujoco_uni` binding since plain `mujoco` now also arrives with the superdex extra. - Host FR3 native bot assets on Hugging Face (unilabsim/unilab-robots) like other robot meshes: the asset hub downloads `bots/arms/fr3_v2` on first use, `unilab-pull-assets --robot fr3_v2` pre-fetches, and SUPERDEX_ASSETS_PATH / env.superdex_assets_root remain audited local overrides. Exclude the downloaded bots from the wheel and git. - FR3 owner defaults play to the native interactive viewer (single env); record playback stays unavailable without an MJCF visual model. - Add a bilingual Go2 task guide (train + eval, record/interactive/sim2sim) to the SuperDex backend docs. - Bump unisim-core to >=1.2.0 and unilab-rl to ==1.2.0 (uv.lock and uv.rocm.lock refreshed); README ecosystem section lists the downstream wuji_unilab and legged-manipulation_unilab repos. Refs #1533, #1534 --- .gitignore | 1 + Makefile | 2 +- README.md | 12 +- README_zh.md | 11 +- docs/sphinx/source/changelog.md | 41 +++++ .../en/1-getting_started/2-installation.md | 2 + .../en/2-user_guide/3-backends/8-superdex.md | 118 ++++++++---- .../zh_CN/1-getting_started/2-installation.md | 2 + .../2-user_guide/3-backends/8-superdex.md | 102 +++++++---- pyproject.rocm.toml | 4 +- pyproject.toml | 23 ++- src/unilab/assets/hub.py | 72 +++++--- src/unilab/assets/pull.py | 24 ++- src/unilab/cli.py | 14 +- .../ppo/task/fr3_joint_target/superdex.yaml | 4 +- tests/assets/test_superdex_assets.py | 61 +++++- .../test_mujoco_scene_context_visual.py | 4 + tests/base/test_backend_imports.py | 2 +- tests/envs/test_fr3_superdex.py | 15 +- tests/test_cli.py | 8 +- tests/test_cli_runtime_requirements.py | 19 +- tests/test_pull_assets.py | 39 +++- tests/training/test_training_helpers.py | 3 + uv.lock | 173 +++++++++++++++++- uv.rocm.lock | 62 +++---- 25 files changed, 643 insertions(+), 175 deletions(-) diff --git a/.gitignore b/.gitignore index 32d4f98ef..1e768f36d 100644 --- a/.gitignore +++ b/.gitignore @@ -79,6 +79,7 @@ src/unilab/assets/motions/x2/*.npz src/unilab/assets/motions/x2/*.csv # Robot mesh assets (downloaded from HF at runtime) +src/unilab/assets/bots/ src/unilab/assets/robots/x2/meshes/*.STL src/unilab/assets/robots/g1/assets/ src/unilab/assets/robots/g1/textures/ diff --git a/Makefile b/Makefile index ff1b41f5e..9b052837a 100644 --- a/Makefile +++ b/Makefile @@ -127,7 +127,7 @@ clean: find . -type d -name ".ruff_cache" -exec rm -rf {} + find . -type d -name "htmlcov" -exec rm -rf {} + find . -type f -name ".coverage" -delete - rm -f train_appo.log train_sac.log train_flashsac.log train_rsl_rl.log MUJOCO_LOG.TXT + rm -f train_appo.log train_td3.log train_sac.log train_flashsac.log train_rsl_rl.log MUJOCO_LOG.TXT find src/unilab/assets/.cache -type f ! -name '.gitkeep' -delete 2>/dev/null || true find src/unilab/assets/caches -type f ! -name '.gitkeep' -delete 2>/dev/null || true find src/unilab/assets/checkpoints -type f ! -name '.gitkeep' -delete 2>/dev/null || true diff --git a/README.md b/README.md index 9de8f9dad..bfe6dcf6f 100644 --- a/README.md +++ b/README.md @@ -104,11 +104,13 @@ and [support matrix](https://unilabsim.github.io/UniLab-doc/en/5-reference/5-sup ## Ecosystem UniLab is designed to be a shared task and training surface for robot-specific -repositories. Current downstream examples include -[MicroDuck RL](https://github.com/unilabsim/microduck_rl_unilab) and -[EngineAI RL](https://github.com/unilabsim/engineai_rl_unilab). They can ship -robot recipes independently while consuming the same task, backend, and RL -contracts. +repositories. They can ship robot recipes independently while consuming the +same task, backend, and RL contracts. Current downstream examples: + +- [MicroDuck RL](https://github.com/unilabsim/microduck_rl_unilab) +- [EngineAI RL](https://github.com/unilabsim/engineai_rl_unilab) +- [Wuji](https://github.com/unilabsim/wuji_unilab) +- [Legged Manipulation](https://github.com/unilabsim/legged-manipulation_unilab) ## Documentation diff --git a/README_zh.md b/README_zh.md index 1dc820493..6303a9527 100644 --- a/README_zh.md +++ b/README_zh.md @@ -96,10 +96,13 @@ uv run train --algo sac --task g1_walk_flat --sim mujoco ## 生态 -UniLab 被设计为机器人专属仓库共享的任务与训练界面。目前的下游示例包括 -[MicroDuck RL](https://github.com/unilabsim/microduck_rl_unilab) 和 -[EngineAI RL](https://github.com/unilabsim/engineai_rl_unilab)。它们可以独立发布机器人 -recipe，同时消费同一套 task、backend 和 RL contract。 +UniLab 被设计为机器人专属仓库共享的任务与训练界面。下游仓库可以独立发布机器人 +recipe，同时消费同一套 task、backend 和 RL contract。目前的下游示例： + +- [MicroDuck RL](https://github.com/unilabsim/microduck_rl_unilab) +- [EngineAI RL](https://github.com/unilabsim/engineai_rl_unilab) +- [Wuji](https://github.com/unilabsim/wuji_unilab) +- [Legged Manipulation](https://github.com/unilabsim/legged-manipulation_unilab) ## 文档 diff --git a/docs/sphinx/source/changelog.md b/docs/sphinx/source/changelog.md index eeba7911a..bcf43b539 100644 --- a/docs/sphinx/source/changelog.md +++ b/docs/sphinx/source/changelog.md @@ -13,6 +13,47 @@ UniLab 遵循[语义化版本](https://semver.org/)。本共享页面以中英 ## Unreleased / 未发布 +- Update the required `unisim-core` release to `>=1.2.0` and the pinned + `unilab-rl` release to `==1.2.0`, including the ROCm profile. + 将必需的 `unisim-core` 版本更新为 `>=1.2.0`，并将钉定的 `unilab-rl` 版本更新为 + `==1.2.0`，ROCm 配置档同步更新。 + +- Host the FR3 SuperDex native bot assets (collision SDF, render GLB, license) + on the Hugging Face dataset + [unilabsim/unilab-robots](https://huggingface.co/datasets/unilabsim/unilab-robots), + consistent with the other robot mesh assets. The asset hub downloads the + `bots/arms/fr3_v2` snapshot into `src/unilab/assets/` on first use, and + `uv run unilab-pull-assets --robot fr3_v2` pre-fetches it; + `SUPERDEX_ASSETS_PATH` / `env.superdex_assets_root` remain as overrides for + auditing a local `project_superdex` checkout and take precedence without + downloading. + FR3 SuperDex 原生 bot 资产（collision SDF、render GLB、许可证）改为托管在 + Hugging Face 数据集 + [unilabsim/unilab-robots](https://huggingface.co/datasets/unilabsim/unilab-robots)， + 与其他机器人 mesh 资产的处理方式一致。asset hub 首次使用时自动把 + `bots/arms/fr3_v2` 快照下载到 `src/unilab/assets/`，也可用 + `uv run unilab-pull-assets --robot fr3_v2` 预拉取； + `SUPERDEX_ASSETS_PATH` / `env.superdex_assets_root` 保留为审计本地 + `project_superdex` checkout 的覆盖方式，优先级更高且不会触发下载。 + +- Add a `superdex` optional extra (`uv sync --extra superdex` or + `pip install "unilab[superdex]"`) that pulls the published SuperDex + Physics/Robotics 1.0.0 wheels (CPython 3.12/3.13, Linux x86_64) through + `unisim-core[superdex]`, replacing the temporary source-build setup. The + `sim=mujoco` runtime check now guards on the `mujoco_uni` binding, since + plain `mujoco` also arrives with the superdex extra. + SuperDex native interactive playback crashing on the first rendered frame + (`eval --sim superdex --render-mode interactive`) was first fixed in + `unisim-core` 1.1.6; the required release line is now `>=1.2.0`. + 新增 `superdex` optional extra（`uv sync --extra superdex` 或 + `pip install "unilab[superdex]"`），通过 `unisim-core[superdex]` + 安装已发布的 SuperDex Physics/Robotics 1.0.0 wheel（CPython 3.12/3.13、 + Linux x86_64），取代临时的源码编译安装方式。`sim=mujoco` 的运行时检查 + 改为检查 `mujoco_uni` 绑定，因为普通 `mujoco` 包也会随 superdex extra + 装入。SuperDex 原生 interactive 回放首帧渲染崩溃的问题 + （`eval --sim superdex --render-mode interactive`）最早在 `unisim-core` + 1.1.6 修复；当前必需的版本线为 `>=1.2.0`。 + - Go2 arm manipulation/locomotion, its legacy helpers, assets, tools and HIM-PPO owners moved to [legged-manipulation_unilab](https://github.com/unilabsim/legged-manipulation_unilab) under [#1528](https://github.com/unilabsim/UniLab/issues/1528). Dedicated source diff --git a/docs/sphinx/source/en/1-getting_started/2-installation.md b/docs/sphinx/source/en/1-getting_started/2-installation.md index 7ef2c90a3..3fedd9ea8 100644 --- a/docs/sphinx/source/en/1-getting_started/2-installation.md +++ b/docs/sphinx/source/en/1-getting_started/2-installation.md @@ -183,6 +183,7 @@ uv sync --extra mujoco --extra mjwarp --extra newton | MJWarp | `uv sync --extra mujoco --extra mjwarp` | NVIDIA CUDA and an explicit CUDA process device | | Genesis | `uv sync --extra genesis` | The validated path uses Linux x86_64, an NVIDIA GPU, and the pinned torch/Genesis versions | | Newton | `uv sync --extra newton` | NVIDIA CUDA; can be combined with the `mujoco` / `mjwarp` extras in one environment | +| SuperDex | `uv sync --extra superdex` | Published wheels support Linux x86_64 with CPython 3.12/3.13 only; FR3 assets download from Hugging Face on first use (`SUPERDEX_ASSETS_PATH` overrides with a local checkout) | | Drake | `make setup-drake` | C++20, Eigen/fmt/spdlog, and an existing Drake prefix or the script's download path | | IsaacGym | `bash scripts/tools/setup_isaacgym_env.sh` | Linux x86_64, NVIDIA driver, and a separate Python 3.8 worker environment | | IsaacSim | `bash scripts/tools/setup_isaacsim_env.sh` | Linux x86_64, NVIDIA CUDA, a separate Python 3.11 worker, and Kit EULA acceptance | @@ -198,6 +199,7 @@ runtime variables, renderer requirements, and verification commands: - {doc}`Genesis <../2-user_guide/3-backends/5-genesis>` - {doc}`Drake <../2-user_guide/3-backends/6-drake>` - {doc}`Newton <../2-user_guide/3-backends/7-newton>` +- {doc}`SuperDex <../2-user_guide/3-backends/8-superdex>` - {doc}`IsaacGym <../2-user_guide/3-backends/3-isaacgym>` - {doc}`IsaacSim <../2-user_guide/3-backends/4-isaacsim>` diff --git a/docs/sphinx/source/en/2-user_guide/3-backends/8-superdex.md b/docs/sphinx/source/en/2-user_guide/3-backends/8-superdex.md index db3b46266..73f1d13c8 100644 --- a/docs/sphinx/source/en/2-user_guide/3-backends/8-superdex.md +++ b/docs/sphinx/source/en/2-user_guide/3-backends/8-superdex.md @@ -9,52 +9,56 @@ training checks do not establish full-training performance or platform support. The implementation is tracked in [#1534](https://github.com/Motphys/UniLab/issues/1534) under [roadmap #1533](https://github.com/Motphys/UniLab/issues/1533). -## Local Development Setup +## Installation -This development profile uses locally linked UniSim and UniLab checkouts; it -does not require a new published version. SuperDex Physics/Robotics 1.0.0 requires -Python 3.12. CPU physics does not require CUDA. Native rendering and video are -not part of the FR3 owner; training defaults to `no_play=true`. - -In the UniLab checkout, use an existing Python 3.12 virtual environment or create -one, then install the local packages: - -For the temporary local SuperDex source build used by this roadmap, first run: +SuperDex Physics/Robotics 1.0.0 is published as Python wheels and is an +optional UniLab extra; no native source build is required. The wheels carry +the native batch executor and support CPython 3.12/3.13 on Linux x86_64 only; +on other platforms the extra is empty and the CLI reports a targeted runtime +diagnostic. CPU physics does not require CUDA. The FR3 owner has no record +(video) playback — the `.superdex_bot` asset carries no MJCF visual model — so +play defaults to the native interactive viewer (`play_render_mode=interactive` +with `play_env_num=1`); use `training.play_render_mode=none` for headless runs. ```bash -bash scripts/tools/setup_superdex_env.sh -source ~/.cache/unisim/superdex/env.sh +# Source checkout (default Python 3.13; wheels support CPython 3.12/3.13): +uv sync --extra superdex + +# From PyPI: +pip install "unilab[superdex]" ``` -With no arguments the script clones the modified -`unilabsim/project_superdex` integration branch, installs the public SuperDex -Python facade, builds `mochi_physics_pybind` and `superdex_robotics_pybind` in -Release mode, and installs the local UniSim/UniRL/UniLab checkouts editable. It -does not publish or install a SuperDex wheel from PyPI. The generated -`env.sh` exports the assets and native-extension paths. Re-run the script after -changing the SuperDex checkout; CMake reuses the existing build directory. +The extra delegates version pins to UniSim through `unisim-core[superdex]`. +UniSim's superdex extra already carries the plain `mujoco` package (used for +MJCF conversion and the offline playback renderer); `mujoco-uni-runtime` is +not required — only the MuJoCo physics backend needs it. The current wheels +are a temporary unilabsim build (`superdex-physics-uni` / +`superdex-robotics-uni`); once the upstream project_superdex release publishes +the `superdex-physics` / `superdex-robotics` wheels, UniSim switches the +package names and UniLab needs no change. + +Native FR3 assets are hosted on Hugging Face +([unilabsim/unilab-robots](https://huggingface.co/datasets/unilabsim/unilab-robots)), +like the other robot mesh assets; the wheels do not carry robot binaries. The +asset hub registers `bots/arms/fr3_v2/fr3_v2.superdex_bot` and downloads the +snapshot into `src/unilab/assets/` on first use, checking its collision SDF, +render files, `LICENSE` and `NOTICE` before constructing physics. To pre-fetch +the assets (e.g. for CI or offline prep): ```bash -uv venv --python 3.12 -export UNILAB_LOCAL_UNISIM=/absolute/path/to/unisim -uv pip install -e "${UNILAB_LOCAL_UNISIM}[superdex,mujoco]" -e . --group pyproject.toml:dev -export UV_NO_SYNC=1 -export SUPERDEX_ASSETS_PATH=/absolute/path/to/project_superdex/assets +uv run unilab-pull-assets --robot fr3_v2 ``` -`UNILAB_LOCAL_UNISIM` enables the repository's local dependency validation: -tests require an editable installation and check that its metadata and imported -module point to exactly that checkout. Without this variable, the normal -indexed-release requirement remains in force. `UV_NO_SYNC=1` preserves the local -links when running existing Make targets; `uv sync` would re-resolve the locked -release profile. +To audit a local `project_superdex` checkout instead, set +`SUPERDEX_ASSETS_PATH=/absolute/path/to/project_superdex/assets`, or set +`env.superdex_assets_root=/absolute/path/to/project_superdex/assets` to +override it for a specific owner invocation. An explicit root takes precedence +over the Hugging Face download and never downloads. -Native FR3 assets remain in the upstream SuperDex checkout. The asset hub -registers `bots/arms/fr3_v2/fr3_v2.superdex_bot`, checking its collision SDF, -render files, `LICENSE` and `NOTICE` before constructing physics. No native -robot binaries are bundled or downloaded by UniLab. Set -`env.superdex_assets_root=/absolute/path/to/project_superdex/assets` to override -`SUPERDEX_ASSETS_PATH` for a specific owner invocation. +A local source build is only needed when changing the SuperDex engine itself: +`bash scripts/tools/setup_superdex_env.sh` clones the integration branch, +builds the native extensions and links the local UniSim/UniLab checkouts +editable. Regular use does not need it. ## Run the FR3 Task @@ -70,9 +74,46 @@ research profile, not rated hardware limits. `superdex_effort_limits` declares the same bounds at the native backend boundary. The SDK remains single-threaded; the native scene executor below owns all supported CPU parallelism. +## Run the Go2 Task + +The `go2_joystick_flat/superdex` owner trains and evaluates the Go2 quadruped +on SuperDex. It inherits the MuJoCo owner's policy I/O (49 actor observations, +52 critic observations, 12 position-target actions) and control timing, +declares its own command ranges and reward weights, and explicitly opts into +contact approximation; see "Validation and Ownership" below for the contract +details. + +Train directly on SuperDex (CPU physics, automatic native workers): + +```bash +uv run train --algo ppo --task go2_joystick_flat --sim superdex +``` + +The owner defaults to 1024 environments and 400 iterations. Logs and +checkpoints land in `logs/rsl_rl_ppo/Go2JoystickFlat/_superdex/`. + +Evaluate a trained run with `--load-run`. Record playback is the default: it +steps 200 frames across 16 environments and writes `play_video.mp4` into the +run directory through the offline MuJoCo renderer while SuperDex remains the +physics backend: + +```bash +uv run eval --algo ppo --task go2_joystick_flat --sim superdex \ + --load-run 2026-09-10_10-50-00_superdex +``` + +For the native SuperDex (Polyscope) viewer instead of a video, add +`--render-mode interactive`; the CLI forces `training.play_env_num=1` and the +owner layer switches the env to the serial executor for that run. + +A checkpoint trained on MuJoCo can be evaluated on SuperDex directly +(sim2sim): pass its run directory to `--load-run`. The play entrypoint +validates the source `run_config.json` against the sim2sim contract before +constructing the environment and rejects incompatible policy I/O. + ## Default CPU Environment Parallelism -The backend uses SuperDex's source-built `SceneBatchExecutor`, a persistent C++ +The backend uses the `SceneBatchExecutor` shipped in the SuperDex wheel, a persistent C++ thread pool that owns the barrier across independent scenes. Each substep writes batched generalized forces, advances scenes, and returns articulated/link state, contact sensors and solver status without per-environment Python binding calls. @@ -172,7 +213,8 @@ uv run --no-sync pytest tests/assets/test_superdex_assets.py \ tests/envs/test_fr3_superdex.py tests/test_cli_runtime_requirements.py -q ``` -The optional native tests require the SDK and `SUPERDEX_ASSETS_PATH`; they cover +The optional native tests require the SDK and the FR3 assets (downloaded from +Hugging Face on demand, or provided through `SUPERDEX_ASSETS_PATH`); they cover finite rollout data, selected reset isolation, immediate observation refresh and a spawned `EnvFactory`. Missing runtime/assets produce an explicit skip; such a run is not native validation. The base asset/config tests need no native diff --git a/docs/sphinx/source/zh_CN/1-getting_started/2-installation.md b/docs/sphinx/source/zh_CN/1-getting_started/2-installation.md index f2a9685b1..ba055330d 100644 --- a/docs/sphinx/source/zh_CN/1-getting_started/2-installation.md +++ b/docs/sphinx/source/zh_CN/1-getting_started/2-installation.md @@ -165,6 +165,7 @@ uv sync --extra mujoco --extra mjwarp --extra newton | MJWarp | `uv sync --extra mujoco --extra mjwarp` | NVIDIA CUDA 和显式 CUDA process device | | Genesis | `uv sync --extra genesis` | 已验证路径使用 Linux x86_64、NVIDIA GPU 及固定版本 torch/Genesis | | Newton | `uv sync --extra newton` | NVIDIA CUDA；可与 `mujoco` / `mjwarp` extra 组合进同一环境 | +| SuperDex | `uv sync --extra superdex` | 已发布 wheel 仅支持 Linux x86_64、CPython 3.12/3.13；FR3 资产首次使用时自动从 Hugging Face 下载（`SUPERDEX_ASSETS_PATH` 可指定本地 checkout 覆盖） | | Drake | `make setup-drake` | C++20、Eigen/fmt/spdlog，以及已有 Drake prefix 或脚本下载路径 | | IsaacGym | `bash scripts/tools/setup_isaacgym_env.sh` | Linux x86_64、NVIDIA driver 和独立 Python 3.8 worker 环境 | | IsaacSim | `bash scripts/tools/setup_isaacsim_env.sh` | Linux x86_64、NVIDIA CUDA、独立 Python 3.11 worker 和 Kit EULA 接受 | @@ -179,6 +180,7 @@ Drake、IsaacGym 和 IsaacSim 的 setup 脚本会将外部 runtime 安装到仓 - {doc}`Genesis <../2-user_guide/3-backends/5-genesis>` - {doc}`Drake <../2-user_guide/3-backends/6-drake>` - {doc}`Newton <../2-user_guide/3-backends/7-newton>` +- {doc}`SuperDex <../2-user_guide/3-backends/8-superdex>` - {doc}`IsaacGym <../2-user_guide/3-backends/3-isaacgym>` - {doc}`IsaacSim <../2-user_guide/3-backends/4-isaacsim>` diff --git a/docs/sphinx/source/zh_CN/2-user_guide/3-backends/8-superdex.md b/docs/sphinx/source/zh_CN/2-user_guide/3-backends/8-superdex.md index cfa9f1681..1f802bab6 100644 --- a/docs/sphinx/source/zh_CN/2-user_guide/3-backends/8-superdex.md +++ b/docs/sphinx/source/zh_CN/2-user_guide/3-backends/8-superdex.md @@ -8,44 +8,50 @@ owner 为固定基 `FR3JointTarget`，配置位于 实施见 [#1534](https://github.com/Motphys/UniLab/issues/1534)，所属 roadmap 为 [#1533](https://github.com/Motphys/UniLab/issues/1533)。 -## 本地开发安装 +## 安装 -该开发配置使用本地链接的 UniSim 与 UniLab，不要求发布新版本。SuperDex -Physics/Robotics 1.0.0 要求 Python 3.12；CPU 物理不需要 CUDA。FR3 owner 暂不包含 -原生渲染和视频，默认 `no_play=true`。 - -本 roadmap 的临时方案使用改动后的 SuperDex 源码编译 native extension。先运行： +SuperDex Physics/Robotics 1.0.0 已发布 Python wheel，是 UniLab 的 optional +extra，不再需要源码编译 native extension。wheel 携带 native batch executor， +仅支持 CPython 3.12/3.13 的 Linux x86_64；其他平台上该 extra 为空，CLI 会给出 +针对性的运行时诊断。CPU 物理不需要 CUDA。FR3 owner 没有 record（视频）回放—— +`.superdex_bot` 资产没有 MJCF visual model——play 默认走 native interactive +viewer（`play_render_mode=interactive`，`play_env_num=1`）；无显示环境下使用 +`training.play_render_mode=none`。 ```bash -bash scripts/tools/setup_superdex_env.sh -source ~/.cache/unisim/superdex/env.sh +# 源码 checkout（默认 Python 3.13；wheel 支持 CPython 3.12/3.13）： +uv sync --extra superdex + +# 从 PyPI 安装： +pip install "unilab[superdex]" ``` -不传参数时，脚本会自动 clone `unilabsim/project_superdex` 的 integration branch， -安装 SuperDex Python facade，以 Release 模式编译 `mochi_physics_pybind` 和 -`superdex_robotics_pybind`，并将本地 UniSim、UniRL、UniLab 以 editable 方式安装。 -默认输出到 `~/.cache/unisim/superdex`，可通过 `UNISIM_SUPERDEX_HOME` 覆盖。它不会 -发布或从 PyPI 安装 SuperDex wheel；完成后 source 生成的 `env.sh` 即可使用。修改 -SuperDex 源码后可重复执行，CMake 会复用已有 build 目录。 +该 extra 通过 `unisim-core[superdex]` 委托 UniSim 钉定版本；UniSim 的 +superdex extra 已包含普通 `mujoco` 包（MJCF 转换与离线回放渲染使用），不需要 +`mujoco-uni-runtime`（仅 MuJoCo 物理后端需要）。当前 wheel 为临时 +unilabsim 构建（`superdex-physics-uni`/`superdex-robotics-uni`）；上游 +project_superdex 发布正式 `superdex-physics`/`superdex-robotics` wheel 后， +UniSim 会切换包名，UniLab 侧无需改动。 -在 UniLab checkout 中使用已有的 Python 3.12 环境，或创建环境后安装本地包： +FR3 原生资产与其他机器人 mesh 资产一样托管在 Hugging Face +（[unilabsim/unilab-robots](https://huggingface.co/datasets/unilabsim/unilab-robots)）， +wheel 不携带机器人二进制。asset hub 注册 +`bots/arms/fr3_v2/fr3_v2.superdex_bot`，首次使用时自动把快照下载到 +`src/unilab/assets/`，并在物理构造前验证 collision SDF、render、`LICENSE` 和 +`NOTICE`。需要预拉取（如 CI 或离线准备）时： ```bash -uv venv --python 3.12 -export UNILAB_LOCAL_UNISIM=/absolute/path/to/unisim -uv pip install -e "${UNILAB_LOCAL_UNISIM}[superdex,mujoco]" -e . --group pyproject.toml:dev -export UV_NO_SYNC=1 -export SUPERDEX_ASSETS_PATH=/absolute/path/to/project_superdex/assets +uv run unilab-pull-assets --robot fr3_v2 ``` -`UNILAB_LOCAL_UNISIM` 启用严格的本地依赖验证：测试同时检查 editable 安装元数据 -和实际 import 路径确实指向指定 checkout。不设置时保留正常的索引发布包检查。 -`UV_NO_SYNC=1` 让现有 Make 目标保留本地链接；`uv sync` 会重新解析锁定的发布依赖。 +若要审计本地 `project_superdex` checkout，可设置 +`SUPERDEX_ASSETS_PATH=/absolute/path/to/project_superdex/assets`；单次运行也可通过 +`env.superdex_assets_root=/absolute/path/to/project_superdex/assets` 覆盖。显式 +root 优先于 Hugging Face 下载，且不会触发下载。 -FR3 原生资产保留在上游 checkout。asset hub 注册 -`bots/arms/fr3_v2/fr3_v2.superdex_bot`，在物理构造前验证 collision SDF、render、 -`LICENSE` 和 `NOTICE`。UniLab 不打包或下载这些二进制。单次运行可通过 -`env.superdex_assets_root=/absolute/path/to/project_superdex/assets` 覆盖环境变量。 +只有修改 SuperDex 引擎源码本身时才需要本地源码构建： +`bash scripts/tools/setup_superdex_env.sh` 会 clone integration branch、编译 +native extension 并以 editable 方式链接本地 UniSim/UniLab；常规使用不需要它。 ## 运行 FR3 任务 @@ -60,9 +66,42 @@ uv run --no-sync train --algo ppo --task fr3_joint_target --sim superdex \ `superdex_effort_limits` 在 native backend 边界声明同样的上限。SDK 固定为单线程； 下面的 native scene executor 是唯一支持的 CPU 并行层。 +## 运行 Go2 任务 + +`go2_joystick_flat/superdex` owner 在 SuperDex 上训练和评估 Go2 四足机器人。 +它继承 MuJoCo owner 的 policy I/O（49 维 actor 观测、52 维 critic 观测、 +12 维位置目标动作）与控制时序，声明自己的 command 范围和 reward 权重，并显式 +接受接触近似；contract 细节见下文"验证与归属"。 + +直接在 SuperDex 上训练（CPU 物理，自动 native worker）： + +```bash +uv run train --algo ppo --task go2_joystick_flat --sim superdex +``` + +owner 默认 1024 个环境、400 轮迭代。日志和 checkpoint 写入 +`logs/rsl_rl_ppo/Go2JoystickFlat/_superdex/`。 + +用 `--load-run` 评估已训练的 run。默认 record 回放：跨 16 个环境推进 200 帧， +通过离线 MuJoCo renderer 把 `play_video.mp4` 写入 run 目录，物理仍由 SuperDex +执行： + +```bash +uv run eval --algo ppo --task go2_joystick_flat --sim superdex \ + --load-run 2026-09-10_10-50-00_superdex +``` + +如需 native SuperDex（Polyscope）viewer 而不是视频，加 +`--render-mode interactive`；CLI 会强制 `training.play_env_num=1`，owner 层同时 +把该次运行的 env 切到 serial executor。 + +在 MuJoCo 上训练的 checkpoint 可以直接在 SuperDex 上评估（sim2sim）：把它的 +run 目录传给 `--load-run`。play 入口会在构造环境前按 sim2sim contract 验证来源 +`run_config.json`，并拒绝不兼容的 policy I/O。 + ## 默认 CPU 环境并行 -backend 使用 SuperDex 源码构建的 `SceneBatchExecutor`。它是跨独立 scene 的常驻 +backend 使用 SuperDex wheel 携带的 `SceneBatchExecutor`。它是跨独立 scene 的常驻 C++ 线程池：每个子步批量写入广义力、推进 scene，并回写 articulation/link state、 contact sensor 和 solver status，不再逐环境跨越 Python binding。资产物化、reset 和 cache frame 转换仍由 UniSim adapter 负责。这是 CPU 线程并行，不是 GPU physics；它不改变 @@ -145,9 +184,10 @@ uv run --no-sync pytest tests/assets/test_superdex_assets.py \ tests/envs/test_fr3_superdex.py tests/test_cli_runtime_requirements.py -q ``` -原生测试要求 SDK 和 `SUPERDEX_ASSETS_PATH`，覆盖有限数值 rollout、局部 reset -隔离、即时观测刷新及 spawn `EnvFactory`。缺失 SDK/资产会明确 skip，不能将 skip -记为原生验证通过。基础资产和配置测试不依赖原生资产 checkout。 +原生测试要求 SDK 和 FR3 资产（按需从 Hugging Face 下载，或通过 +`SUPERDEX_ASSETS_PATH` 提供），覆盖有限数值 rollout、局部 reset 隔离、即时观测 +刷新及 spawn `EnvFactory`。缺失 SDK/资产会明确 skip，不能将 skip 记为原生验证 +通过。基础资产和配置测试不依赖原生资产 checkout。 引擎转换与物理由 UniSim 拥有；资产注册、Hydra 与任务 term 由 UniLab 拥有。 相关约束见 {doc}`/adr/ADR-0007-unisim-extraction-boundary`、 diff --git a/pyproject.rocm.toml b/pyproject.rocm.toml index d0f4f1448..7e070bc87 100644 --- a/pyproject.rocm.toml +++ b/pyproject.rocm.toml @@ -25,10 +25,10 @@ dependencies = [ "numpy", # Physics implementations are provided by the independently released # unisim-core package from the production PyPI index. - "unisim-core>=1.1.5", + "unisim-core>=1.2.0", # RL algorithms and async runtimes live in the independently released # uni-rl package (distribution name ``unilab-rl``); see pyproject.toml. - "unilab-rl==1.1.3", + "unilab-rl==1.2.0", "torch==2.11.0", "triton-rocm==3.6.0 ; sys_platform == 'linux' and platform_machine == 'x86_64'", "gymnasium", diff --git a/pyproject.toml b/pyproject.toml index 7798912ee..199b0debc 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -6,9 +6,10 @@ build-backend = "uv_build" # Robot meshes/textures are hosted on Hugging Face (unilabsim/unilab-robots) # and downloaded into these paths on first use; keep them out of the # wheel/sdist even when they exist in the source tree. XML and small metadata -# stay packaged. Directories must stay in sync with ROBOT_ASSET_SPECS in -# src/unilab/assets/hub.py. +# stay packaged. Directories must stay in sync with ROBOT_ASSET_SPECS and +# SUPERDEX_ROBOT_ASSET_SPECS in src/unilab/assets/hub.py. source-exclude = [ + "/src/unilab/assets/bots", "/src/unilab/assets/robots/a2/assets", "/src/unilab/assets/robots/allegro_hand/assets", "/src/unilab/assets/robots/g1/assets", @@ -41,12 +42,12 @@ dependencies = [ "numpy", # Physics implementations are provided by the independently released # unisim-core package from the production PyPI index. - "unisim-core>=1.1.5", + "unisim-core>=1.2.0", # 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 # env contract (uni_rl.env_contract.EnvFactory). Published on PyPI. - "unilab-rl==1.1.3", + "unilab-rl==1.2.0", "numba>=0.67", "prettytable>=3.10", # torch is a range (not an exact pin) so that published PyPI metadata lets @@ -164,6 +165,20 @@ genesis = [ "genesis-world==1.3.3", ] viser = ["viser>=1.0.26", "trimesh>=3.21.7"] +# SuperDex Physics/Robotics 1.0.0 ships as published wheels; the exact pins and +# the temporary superdex-uni build names are owned by unisim-core's superdex +# extra (they revert to superdex-physics/-robotics once the upstream +# project_superdex release lands). That extra already carries plain `mujoco` +# for MJCF conversion and the offline playback renderer; mujoco-uni-runtime is +# deliberately NOT bound here, since only the MuJoCo physics backend +# (unisim.backend.mujoco.backend) needs it and UniLab guards that backend on +# the `mujoco_uni` module. The wheels are CPython 3.12/3.13 Linux x86_64 only, +# so the marker keeps `uv lock` resolvable for the other +# required-environments; elsewhere the extra is empty and the CLI reports a +# targeted runtime diagnostic. +superdex = [ + "unisim-core[superdex] ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'", +] [dependency-groups] dev = ["pytest", "pytest-cov", "ruff", "mypy", "pyright>=1.1.408"] diff --git a/src/unilab/assets/hub.py b/src/unilab/assets/hub.py index 447a066cc..c3846fc68 100644 --- a/src/unilab/assets/hub.py +++ b/src/unilab/assets/hub.py @@ -50,9 +50,12 @@ "x2": (("robots/x2/meshes", "pelvis.STL", "*.STL", "STL"),), } -# Upstream native robots stay in the user's audited SuperDex asset checkout. -# This registry deliberately has no download fallback or SDK import. Relative -# model names in task owners are resolved only beneath the configured root. +# Native SuperDex robots. When env.superdex_assets_root / SUPERDEX_ASSETS_PATH +# points at an audited upstream checkout, assets resolve there and nothing is +# downloaded. Without an explicit root, registered bots are downloaded from the +# HF robot repo into ASSETS_ROOT_PATH on first use, like every other robot +# asset. Each entry lists the collision, render and license files that must +# exist before physics construction. SUPERDEX_ROBOT_ASSET_SPECS: dict[str, tuple[str, ...]] = { "bots/arms/fr3_v2/fr3_v2.superdex_bot": ( "LICENSE", @@ -64,20 +67,44 @@ def resolve_superdex_robot_asset(model_file: str, *, assets_root: str | None = None) -> str: - """Resolve a registered native robot in a local SuperDex asset checkout. - - ``assets_root`` or ``SUPERDEX_ASSETS_PATH`` points to the upstream ``assets`` - directory, not the repository root. Required collision, visual and license - files are checked before physics construction. No files are downloaded or - copied into UniLab's package. + """Resolve a registered native SuperDex robot, downloading from HF if needed. + + ``assets_root`` or ``SUPERDEX_ASSETS_PATH`` points to an audited upstream + ``assets`` directory (not the repository root) and takes precedence; in + that mode nothing is downloaded. Without an explicit root, registered + ``bots/...`` names resolve beneath ``ASSETS_ROOT_PATH`` and are downloaded + from the Hugging Face robot repo on first use, like other robot assets. + Required collision, visual and license files are checked before physics + construction either way. """ root_value = assets_root if assets_root is not None else os.environ.get("SUPERDEX_ASSETS_PATH") - if not root_value or not root_value.strip(): - raise FileNotFoundError( - "SuperDex native assets require env.superdex_assets_root or SUPERDEX_ASSETS_PATH " - "pointing to the project_superdex/assets directory" - ) - root = Path(root_value).expanduser().resolve() + if root_value and root_value.strip(): + return _resolve_superdex_under_root(model_file, Path(root_value).expanduser().resolve()) + + supplied = Path(model_file).expanduser() + if supplied.is_absolute(): + try: + relative = supplied.resolve().relative_to(ASSETS_ROOT_PATH.resolve()).as_posix() + except ValueError: + raise ValueError( + f"SuperDex robot asset is not registered: {model_file}. Provide a " + "registered bots/... name or set env.superdex_assets_root / " + "SUPERDEX_ASSETS_PATH for a local checkout" + ) from None + else: + relative = supplied.as_posix() + if relative not in SUPERDEX_ROBOT_ASSET_SPECS: + raise ValueError(f"SuperDex robot asset is not registered: {relative}") + directory = posixpath.dirname(relative) + _resolve_snapshot_dir( + directory, repo_id=_HF_ROBOTS_REPO_ID, marker=posixpath.basename(relative) + ) + _check_superdex_asset_completeness(ASSETS_ROOT_PATH, relative) + return str(ASSETS_ROOT_PATH / relative) + + +def _resolve_superdex_under_root(model_file: str, root: Path) -> str: + """Resolve a registered native robot in an audited local SuperDex checkout.""" supplied = Path(model_file).expanduser() resolved = (supplied if supplied.is_absolute() else root / supplied).resolve() try: @@ -86,17 +113,20 @@ def resolve_superdex_robot_asset(model_file: str, *, assets_root: str | None = N raise ValueError(f"SuperDex robot asset must be inside configured root {root}") from exc if relative not in SUPERDEX_ROBOT_ASSET_SPECS: raise ValueError(f"SuperDex robot asset is not registered: {relative}") - required = ( - resolved, - *(resolved.parent / item for item in SUPERDEX_ROBOT_ASSET_SPECS[relative]), - ) + _check_superdex_asset_completeness(root, relative) + return str(resolved) + + +def _check_superdex_asset_completeness(root: Path, relative: str) -> None: + """Fail before physics construction when a registered bot is incomplete.""" + base = root / relative + required = (base, *(base.parent / item for item in SUPERDEX_ROBOT_ASSET_SPECS[relative])) missing = [str(path) for path in required if not path.is_file()] if missing: raise FileNotFoundError( - "SuperDex registered robot asset is incomplete; restore the upstream checkout " + "SuperDex registered robot asset is incomplete; restore the asset directory " f"including collision/render files and license notices: {', '.join(missing)}" ) - return str(resolved) def resolve_motion_files( diff --git a/src/unilab/assets/pull.py b/src/unilab/assets/pull.py index cd2696a96..168240ef4 100644 --- a/src/unilab/assets/pull.py +++ b/src/unilab/assets/pull.py @@ -9,6 +9,7 @@ Usage: uv run unilab-pull-assets # pull the default robot (x2) uv run unilab-pull-assets --robot g1 + uv run unilab-pull-assets --robot fr3_v2 # SuperDex native bot uv run unilab-pull-assets --robot all # pull every registered robot """ @@ -20,7 +21,12 @@ from dataclasses import dataclass from pathlib import Path -from unilab.assets.hub import ROBOT_ASSET_SPECS, resolve_robot_asset_dir +from unilab.assets.hub import ( + ROBOT_ASSET_SPECS, + SUPERDEX_ROBOT_ASSET_SPECS, + resolve_robot_asset_dir, + resolve_superdex_robot_asset, +) _ALL = "all" @@ -32,6 +38,14 @@ class _AssetSummary: label: str +def _superdex_bot_names() -> dict[str, str]: + """Map a short bot name (``fr3_v2``) to its ``SUPERDEX_ROBOT_ASSET_SPECS`` key.""" + return { + key.rsplit("/", 1)[-1].replace(".superdex_bot", ""): key + for key in SUPERDEX_ROBOT_ASSET_SPECS + } + + def _parse_args(argv: Sequence[str] | None = None) -> argparse.Namespace: parser = argparse.ArgumentParser(description=__doc__) parser.add_argument( @@ -49,10 +63,16 @@ def _parse_args(argv: Sequence[str] | None = None) -> argparse.Namespace: def _sorted_robots() -> list[str]: - return sorted(ROBOT_ASSET_SPECS) + return sorted(ROBOT_ASSET_SPECS) + sorted(_superdex_bot_names()) def _pull_robot(robot: str) -> list[_AssetSummary]: + superdex_bots = _superdex_bot_names() + if robot in superdex_bots: + resolved = resolve_superdex_robot_asset(superdex_bots[robot]) + target = Path(resolved).parent + count = sum(1 for path in target.rglob("*") if path.is_file()) + return [_AssetSummary(target=target, count=count, label="asset")] summaries: list[_AssetSummary] = [] for directory, marker, pattern, label in ROBOT_ASSET_SPECS[robot]: target = resolve_robot_asset_dir(directory, marker=marker, show_progress=False) diff --git a/src/unilab/cli.py b/src/unilab/cli.py index 9fad69e91..acb288204 100644 --- a/src/unilab/cli.py +++ b/src/unilab/cli.py @@ -109,7 +109,10 @@ def _check_load_run(load_run: str) -> None: def _check_runtime_requirements(algo: str, sim: str) -> None: - if sim == "mujoco" and find_spec("mujoco") is None: + # The MuJoCo physics backend (unisim.backend.mujoco.backend) needs the + # mujoco-uni-runtime native binding; plain `mujoco` can also arrive via + # other extras (e.g. superdex), so gate on `mujoco_uni` here. + if sim == "mujoco" and (find_spec("mujoco") is None or find_spec("mujoco_uni") is None): raise SystemExit( "sim=mujoco requires the MuJoCo extra. Install it with " "`pip install unilab[mujoco]` (or `uv sync --extra mujoco` in a source checkout)." @@ -134,15 +137,16 @@ def _check_runtime_requirements(algo: str, sim: str) -> None: from unisim.backend.superdex.dependencies import superdex_dependencies_available except ImportError as exc: raise SystemExit( - "sim=superdex requires the locally linked UniSim SuperDex development checkout; " + "sim=superdex requires unisim-core>=1.1.5 with the SuperDex adapter; " "the installed unisim-core does not provide that adapter." ) from exc if not superdex_dependencies_available(): raise SystemExit( - "sim=superdex requires Python 3.12 or 3.13 and the SuperDex Physics/Robotics " - "runtime. Install the locally linked UniSim superdex extra in a supported " - "Python environment; see the SuperDex backend page for local development setup." + "sim=superdex requires Python 3.12 or 3.13 on Linux x86_64 and the " + "SuperDex Physics/Robotics runtime. Install it with " + "`uv sync --extra superdex` in a source checkout " + "(or `pip install unilab[superdex]`)." ) if sim == "motrix" and find_spec("motrixsim") is None: raise SystemExit( diff --git a/src/unilab/conf/ppo/task/fr3_joint_target/superdex.yaml b/src/unilab/conf/ppo/task/fr3_joint_target/superdex.yaml index 2e005373a..33960298c 100644 --- a/src/unilab/conf/ppo/task/fr3_joint_target/superdex.yaml +++ b/src/unilab/conf/ppo/task/fr3_joint_target/superdex.yaml @@ -7,8 +7,8 @@ training: task_name: FR3JointTarget sim_backend: superdex device: cpu - no_play: true - play_render_mode: none + play_render_mode: interactive + play_env_num: 1 algo: num_envs: 2 diff --git a/tests/assets/test_superdex_assets.py b/tests/assets/test_superdex_assets.py index 62001653a..b042701ae 100644 --- a/tests/assets/test_superdex_assets.py +++ b/tests/assets/test_superdex_assets.py @@ -1,9 +1,10 @@ -"""Native SuperDex assets resolve only through the audited local registry.""" +"""Native SuperDex assets resolve via an audited local root or the HF hub.""" from pathlib import Path import pytest +from unilab.assets import hub from unilab.assets.hub import SUPERDEX_ROBOT_ASSET_SPECS, resolve_superdex_robot_asset MODEL = "bots/arms/fr3_v2/fr3_v2.superdex_bot" @@ -29,10 +30,36 @@ def test_local_superdex_asset_root_precedence_and_absolute_paths( assert resolve_superdex_robot_asset(MODEL) == expected -def test_superdex_assets_require_explicit_local_root(monkeypatch: pytest.MonkeyPatch) -> None: +def _fake_snapshot_dir(asset_root: Path, calls: list[tuple[str, str, str]]): + def fake(directory: str, *, repo_id: str, marker: str, show_progress: bool = True) -> Path: + calls.append((directory, repo_id, marker)) + return asset_root / directory + + return fake + + +def test_superdex_assets_download_from_hub_without_local_root( + asset_root: Path, monkeypatch: pytest.MonkeyPatch +) -> None: monkeypatch.delenv("SUPERDEX_ASSETS_PATH", raising=False) - with pytest.raises(FileNotFoundError, match="SUPERDEX_ASSETS_PATH"): - resolve_superdex_robot_asset(MODEL) + monkeypatch.setattr(hub, "ASSETS_ROOT_PATH", asset_root) + calls: list[tuple[str, str, str]] = [] + monkeypatch.setattr(hub, "_resolve_snapshot_dir", _fake_snapshot_dir(asset_root, calls)) + + assert resolve_superdex_robot_asset(MODEL) == str(asset_root / MODEL) + assert calls == [("bots/arms/fr3_v2", hub._HF_ROBOTS_REPO_ID, "fr3_v2.superdex_bot")] + + +def test_superdex_assets_explicit_root_never_downloads( + asset_root: Path, monkeypatch: pytest.MonkeyPatch +) -> None: + def fail(*args: object, **kwargs: object) -> None: + raise AssertionError("audited local root must not trigger HF downloads") + + monkeypatch.setattr(hub, "_resolve_snapshot_dir", fail) + assert resolve_superdex_robot_asset(MODEL, assets_root=str(asset_root)) == str( + asset_root / MODEL + ) def test_superdex_assets_reject_unregistered_and_escaping_paths(asset_root: Path) -> None: @@ -42,8 +69,34 @@ def test_superdex_assets_reject_unregistered_and_escaping_paths(asset_root: Path resolve_superdex_robot_asset("../outside.superdex_bot", assets_root=str(asset_root)) +def test_superdex_hub_mode_rejects_unregistered_paths( + monkeypatch: pytest.MonkeyPatch, tmp_path: Path +) -> None: + monkeypatch.delenv("SUPERDEX_ASSETS_PATH", raising=False) + monkeypatch.setattr(hub, "ASSETS_ROOT_PATH", tmp_path) + calls: list[tuple[str, str, str]] = [] + monkeypatch.setattr(hub, "_resolve_snapshot_dir", _fake_snapshot_dir(tmp_path, calls)) + with pytest.raises(ValueError, match="not registered"): + resolve_superdex_robot_asset("bots/arms/unknown/unknown.superdex_bot") + with pytest.raises(ValueError, match="not registered"): + resolve_superdex_robot_asset("/outside/fr3_v2.superdex_bot") + assert calls == [] + + def test_superdex_assets_fail_before_sdk_on_incomplete_collision(asset_root: Path) -> None: missing = asset_root / Path(MODEL).parent / "collision/fr3_link4_collision.mochi.h5" missing.unlink() with pytest.raises(FileNotFoundError, match="fr3_link4_collision"): resolve_superdex_robot_asset(MODEL, assets_root=str(asset_root)) + + +def test_superdex_hub_mode_checks_completeness_after_download( + asset_root: Path, monkeypatch: pytest.MonkeyPatch +) -> None: + monkeypatch.delenv("SUPERDEX_ASSETS_PATH", raising=False) + monkeypatch.setattr(hub, "ASSETS_ROOT_PATH", asset_root) + (asset_root / Path(MODEL).parent / "NOTICE").unlink() + calls: list[tuple[str, str, str]] = [] + monkeypatch.setattr(hub, "_resolve_snapshot_dir", _fake_snapshot_dir(asset_root, calls)) + with pytest.raises(FileNotFoundError, match="NOTICE"): + resolve_superdex_robot_asset(MODEL) diff --git a/tests/base/backend/test_mujoco_scene_context_visual.py b/tests/base/backend/test_mujoco_scene_context_visual.py index 0ff80c05b..0c7182d31 100644 --- a/tests/base/backend/test_mujoco_scene_context_visual.py +++ b/tests/base/backend/test_mujoco_scene_context_visual.py @@ -9,6 +9,10 @@ from pathlib import Path +import pytest + +pytest.importorskip("mujoco_uni") + from unisim.backend.mujoco.backend import _build_mujoco_scene_context from unilab.base.scene import SceneCfg diff --git a/tests/base/test_backend_imports.py b/tests/base/test_backend_imports.py index 187d8c39e..a21e0eb91 100644 --- a/tests/base/test_backend_imports.py +++ b/tests/base/test_backend_imports.py @@ -86,7 +86,7 @@ def test_mujoco_backend_import_path_does_not_eagerly_import_motrix() -> None: print("mujoco_runtime", "mujoco" in sys.modules) print("mujoco_backend", "unisim.backend.mujoco.backend" in sys.modules) - if importlib.util.find_spec("mujoco") is not None: + if importlib.util.find_spec("mujoco_uni") is not None: import unisim.backend.mujoco.backend print("mujoco_backend imported") else: diff --git a/tests/envs/test_fr3_superdex.py b/tests/envs/test_fr3_superdex.py index 3b491d59a..36a435ec2 100644 --- a/tests/envs/test_fr3_superdex.py +++ b/tests/envs/test_fr3_superdex.py @@ -3,7 +3,6 @@ from __future__ import annotations import multiprocessing as mp -import os from pathlib import Path from typing import Any @@ -44,7 +43,8 @@ def test_fr3_owner_has_torque_control_without_free_root_terms( assert list(cfg.observations["policy"].terms) == ["target_error", "joint_vel", "actions"] assert cfg.superdex_effort_limits == [20.0] * 4 + [5.0] * 3 assert cfg.superdex_num_workers == 0 - assert owner.training.no_play and owner.training.device == "cpu" + assert owner.training.play_render_mode == "interactive" + assert owner.training.play_env_num == 1 and owner.training.device == "cpu" assert "superdex" in cli.SUPPORTED_SIMS monkeypatch.setattr(cli, "_check_runtime_requirements", lambda *_: None) command = cli.build_command( @@ -70,10 +70,17 @@ def test_superdex_owner_options_reject_invalid_values(kwargs: dict[str, Any]) -> def _require_runtime() -> None: - if not os.environ.get("SUPERDEX_ASSETS_PATH"): - pytest.skip("native FR3 integration requires SUPERDEX_ASSETS_PATH") pytest.importorskip("superdex.physics") pytest.importorskip("superdex.robotics") + from unilab.assets.hub import resolve_superdex_robot_asset + + try: + resolve_superdex_robot_asset("bots/arms/fr3_v2/fr3_v2.superdex_bot") + except Exception as exc: # noqa: BLE001 - any resolution failure means skip + pytest.skip( + "native FR3 integration needs the FR3 assets: allow Hugging Face download " + f"or set SUPERDEX_ASSETS_PATH to a local checkout ({exc})" + ) def test_fr3_native_rollout_and_selected_reset() -> None: diff --git a/tests/test_cli.py b/tests/test_cli.py index f483cb722..ce5bac489 100644 --- a/tests/test_cli.py +++ b/tests/test_cli.py @@ -224,7 +224,7 @@ def test_eval_mujoco_interactive_routes_to_dedicated_viewer( monkeypatch.setattr( cli, "find_spec", - lambda name: ModuleSpec(name, loader=None) if name == "mujoco" else None, + lambda name: ModuleSpec(name, loader=None) if name in {"mujoco", "mujoco_uni"} else None, ) command = cli.build_command( @@ -270,7 +270,7 @@ def test_eval_mujoco_interactive_honors_profile_and_render_override( monkeypatch.setattr( cli, "find_spec", - lambda name: ModuleSpec(name, loader=None) if name == "mujoco" else None, + lambda name: ModuleSpec(name, loader=None) if name in {"mujoco", "mujoco_uni"} else None, ) command = cli.build_command( @@ -398,7 +398,7 @@ def test_eval_mujoco_interactive_preserves_explicit_action_mode( monkeypatch.setattr( cli, "find_spec", - lambda name: ModuleSpec(name, loader=None) if name == "mujoco" else None, + lambda name: ModuleSpec(name, loader=None) if name in {"mujoco", "mujoco_uni"} else None, ) command = cli.build_command( @@ -554,7 +554,7 @@ def test_eval_mujoco_interactive_falls_back_to_sibling_owner( monkeypatch.setattr( cli, "find_spec", - lambda name: ModuleSpec(name, loader=None) if name == "mujoco" else None, + lambda name: ModuleSpec(name, loader=None) if name in {"mujoco", "mujoco_uni"} else None, ) command = cli.build_command( diff --git a/tests/test_cli_runtime_requirements.py b/tests/test_cli_runtime_requirements.py index cb83b19d8..572361b8c 100644 --- a/tests/test_cli_runtime_requirements.py +++ b/tests/test_cli_runtime_requirements.py @@ -12,6 +12,17 @@ def test_check_runtime_requirements_requires_mujoco_extra(monkeypatch: pytest.Mo cli._check_runtime_requirements("ppo", "mujoco") +def test_check_runtime_requirements_mujoco_needs_the_uni_runtime( + monkeypatch: pytest.MonkeyPatch, +) -> None: + # Plain `mujoco` can arrive via other extras (e.g. superdex); the MuJoCo + # physics backend is only usable with the mujoco-uni-runtime binding. + monkeypatch.setattr(cli, "find_spec", lambda name: None if name == "mujoco_uni" else object()) + + with pytest.raises(SystemExit, match="sim=mujoco requires the MuJoCo extra"): + cli._check_runtime_requirements("ppo", "mujoco") + + def test_check_runtime_requirements_requires_motrix_extra(monkeypatch: pytest.MonkeyPatch) -> None: monkeypatch.setattr(cli, "find_spec", lambda name: None if name == "motrixsim" else object()) @@ -47,15 +58,17 @@ def test_superdex_missing_runtime_reports_python_and_sdk(monkeypatch: pytest.Mon from unisim.backend.superdex import dependencies monkeypatch.setattr(dependencies, "superdex_dependencies_available", lambda: False) - with pytest.raises(SystemExit, match="Python 3.12.*Physics/Robotics"): + with pytest.raises( + SystemExit, match=r"Python 3\.12.*Physics/Robotics.*uv sync --extra superdex" + ): cli._check_runtime_requirements("ppo", "superdex") -def test_superdex_old_unisim_reports_local_link_requirement( +def test_superdex_old_unisim_reports_adapter_requirement( monkeypatch: pytest.MonkeyPatch, ) -> None: import sys monkeypatch.setitem(sys.modules, "unisim.backend.superdex.dependencies", None) - with pytest.raises(SystemExit, match="locally linked UniSim SuperDex"): + with pytest.raises(SystemExit, match="unisim-core>=1.1.5 with the SuperDex adapter"): cli._check_runtime_requirements("ppo", "superdex") diff --git a/tests/test_pull_assets.py b/tests/test_pull_assets.py index 082fd02c6..957992e8d 100644 --- a/tests/test_pull_assets.py +++ b/tests/test_pull_assets.py @@ -67,6 +67,27 @@ def fake_resolver(directory: str, *, marker: str, show_progress: bool) -> Path: assert lines[-1].startswith("Robot assets ready: 1 robots, 2 directories, 56 files") +def test_pull_assets_fr3_v2_uses_superdex_resolver( + monkeypatch: pytest.MonkeyPatch, + tmp_path: Path, + capsys: pytest.CaptureFixture[str], +): + target = _populate(tmp_path / "fr3_v2", suffix=".h5", count=3) + calls: list[str] = [] + + def fake_superdex_resolver(model_file: str) -> str: + calls.append(model_file) + return str(target / "fr3_v2.superdex_bot") + + monkeypatch.setattr(pull_assets, "resolve_superdex_robot_asset", fake_superdex_resolver) + + assert pull_assets.main(["--robot", "fr3_v2"]) == 0 + assert calls == ["bots/arms/fr3_v2/fr3_v2.superdex_bot"] + lines = capsys.readouterr().out.strip().splitlines() + assert lines[0] == "Downloading fr3_v2 assets ..." + assert lines[-1].startswith("Robot assets ready: 1 robots, 1 directories, 3 files") + + def test_pull_assets_all_covers_every_registered_robot( monkeypatch: pytest.MonkeyPatch, tmp_path: Path, @@ -75,26 +96,34 @@ def test_pull_assets_all_covers_every_registered_robot( from unilab.assets.hub import ROBOT_ASSET_SPECS target = _populate(tmp_path / "dir", suffix=".stl", count=1) + superdex_target = _populate(tmp_path / "fr3_v2", suffix=".h5", count=1) calls: list[tuple[str, bool]] = [] + superdex_calls: list[str] = [] def fake_resolver(directory: str, *, marker: str, show_progress: bool) -> Path: calls.append((directory, show_progress)) return target + def fake_superdex_resolver(model_file: str) -> str: + superdex_calls.append(model_file) + return str(superdex_target / "fr3_v2.superdex_bot") + monkeypatch.setattr(pull_assets, "resolve_robot_asset_dir", fake_resolver) + monkeypatch.setattr(pull_assets, "resolve_superdex_robot_asset", fake_superdex_resolver) + robots = sorted(ROBOT_ASSET_SPECS) + sorted(pull_assets._superdex_bot_names()) assert pull_assets.main(["--robot", "all"]) == 0 assert calls == [ (directory, False) for robot in sorted(ROBOT_ASSET_SPECS) for directory, _marker, _pattern, _label in ROBOT_ASSET_SPECS[robot] ] + superdex_bots = pull_assets._superdex_bot_names() + assert superdex_calls == [superdex_bots[name] for name in sorted(superdex_bots)] output_lines = capsys.readouterr().out.strip().splitlines() - assert len(output_lines) == len(ROBOT_ASSET_SPECS) + 1 - assert output_lines[:-1] == [ - f"Downloading {robot} assets ..." for robot in sorted(ROBOT_ASSET_SPECS) - ] - assert output_lines[-1].startswith(f"Robot assets ready: {len(ROBOT_ASSET_SPECS)} robots") + assert len(output_lines) == len(robots) + 1 + assert output_lines[:-1] == [f"Downloading {robot} assets ..." for robot in robots] + assert output_lines[-1].startswith(f"Robot assets ready: {len(robots)} robots") def test_pull_assets_verbose_keeps_output_compact( diff --git 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platform_machine != 's390x' and sys_platform != 'linux')", - "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version >= '3.13' and platform_machine == 's390x'", + "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.12.*' and platform_machine == 's390x'", + "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.11.*' and platform_machine == 's390x'", "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'linux'", @@ -307,12 +307,12 @@ version = "1.3.3" source = { registry = "https://pypi.org/simple" } resolution-markers = [ "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')", - "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version >= '3.13' and platform_machine == 's390x'", + "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.12.*' and platform_machine == 's390x'", + "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.11.*' and platform_machine == 's390x'", ] @@ -611,12 +611,12 @@ version = "1.14.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')", - "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version >= '3.13' and platform_machine == 's390x'", + "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.12.*' and platform_machine == 's390x'", + "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.11.*' and platform_machine == 's390x'", ] @@ -1087,10 +1087,10 @@ version = "9.12.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')", - "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version >= '3.13' and platform_machine == 's390x'", + "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.12.*' and platform_machine == 's390x'", ] dependencies = [ @@ -1928,12 +1928,12 @@ version = "3.6.1" source = { registry = "https://pypi.org/simple" } resolution-markers = [ "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')", - "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version >= '3.13' and platform_machine == 's390x'", + "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.12.*' and platform_machine == 's390x'", + "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.11.*' and platform_machine == 's390x'", ] @@ -2046,12 +2046,12 @@ version = "2.4.4" source = { registry = "https://pypi.org/simple" } resolution-markers = [ "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')", - "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version >= '3.13' and platform_machine == 's390x'", + "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.12.*' and platform_machine == 's390x'", + "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.11.*' and platform_machine == 's390x'", ] @@ -2366,12 +2366,12 @@ version = "1.24.4" source = { registry = "https://pypi.org/simple" } resolution-markers = [ "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')", - "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version >= '3.13' and platform_machine == 's390x'", + "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.12.*' and platform_machine == 's390x'", + "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.11.*' and platform_machine == 's390x'", ] @@ -3206,12 +3206,12 @@ version = "1.17.1" source = { registry = "https://pypi.org/simple" } resolution-markers = [ "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')", - "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version >= '3.13' and platform_machine == 's390x'", + "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.12.*' and platform_machine == 's390x'", + "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')", "python_full_version == '3.11.*' and platform_machine == 's390x'", ] @@ -3509,8 +3509,8 @@ version = "2.11.0" source = { registry = 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