release: unilab 1.5.5 (unisim-core 2.4.0)

docs/sphinx/source/changelog.md

@@ -13,6 +13,15 @@ UniLab 遵循[语义化版本](https://semver.org/)。本共享页面以中英
 PyPI 版本变更与未发布变更；发布日期采用 PyPI 上传日期。完整提交历史请参阅
 [UniLab 仓库](https://github.com/unilabsim/UniLab)。
 
+## 1.5.5 (2026-11-02)
+
+### Changed / 变更
+
+- The default and ROCm profiles now pin `unisim-core==2.4.0`, including the
+  Motrix and SuperDex extras.
+  默认与 ROCm profile 现在均钉定 `unisim-core==2.4.0`，包括 Motrix 与
+  SuperDex extra。
+
 ## 1.5.4 (2026-10-31)
 
 ### Changed / 变更

docs/sphinx/source/en/5-reference/5-support_matrix.md

@@ -76,7 +76,7 @@ This table is derived from UniSim's SDK-free public static inventory. It describ
 | Backend | Execution / process / data plane | Torch devices | CUDA runtime | Linux+CUDA | macOS | ROCm | Worker | Reset randomization | Fixed variants | Host callbacks | Packed bridge |
 |---|---|---|---|---|---|---|---|---|---|---|---|
 | `mujoco` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge with explicit ROCm Torch buffers (`cuda`) | In-process; no external Python worker | unknown | unknown | Unsupported | Exact |
-| `motrix` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge with explicit ROCm Torch buffers (`cuda`) | In-process; no external Python worker | unknown | Unsupported | Unsupported | Exact |
+| `motrix` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge with explicit ROCm Torch buffers (`cuda`) | In-process; no external Python worker | unknown | unknown | Unsupported | Exact |
 | `drake` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge with explicit ROCm Torch buffers (`cuda`) | In-process; no external Python worker | Unsupported | Unsupported | Unsupported | Exact |
 | `mjwarp` | Device-resident / in-process / direct | CUDA | Required for the entire tensor lifecycle | Supported: Linux CUDA only | Unsupported; no CPU, MPS, or ROCm fallback | Unsupported; no CPU, MPS, or ROCm fallback | In-process; no external Python worker | Unsupported | Unsupported | Unsupported | Unsupported |
 | `newton` | Device-resident / in-process / direct | CUDA | Required for the entire tensor lifecycle | Supported: Linux CUDA only | Unsupported; no CPU, MPS, or ROCm fallback | Unsupported; no CPU, MPS, or ROCm fallback | In-process; no external Python worker | Exact | Unsupported | Unsupported | Unsupported |

docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md

@@ -68,7 +68,7 @@ uv run scripts/generate_support_matrix.py --write
 | Backend | Execution / process / data plane | Torch devices | CUDA runtime | Linux+CUDA | macOS | ROCm | Worker | Reset randomization | Fixed variants | Host callbacks | Packed bridge |
 |---|---|---|---|---|---|---|---|---|---|---|---|
 | `mujoco` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge with explicit ROCm Torch buffers (`cuda`) | In-process; no external Python worker | unknown | unknown | 不支持 | 支持 |
-| `motrix` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge with explicit ROCm Torch buffers (`cuda`) | In-process; no external Python worker | unknown | 不支持 | 不支持 | 支持 |
+| `motrix` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge with explicit ROCm Torch buffers (`cuda`) | In-process; no external Python worker | unknown | unknown | 不支持 | 支持 |
 | `drake` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge with explicit ROCm Torch buffers (`cuda`) | In-process; no external Python worker | 不支持 | 不支持 | 不支持 | 支持 |
 | `mjwarp` | Device-resident / in-process / direct | CUDA | Required for the entire tensor lifecycle | Supported: Linux CUDA only | Unsupported; no CPU, MPS, or ROCm fallback | Unsupported; no CPU, MPS, or ROCm fallback | In-process; no external Python worker | 不支持 | 不支持 | 不支持 | 不支持 |
 | `newton` | Device-resident / in-process / direct | CUDA | Required for the entire tensor lifecycle | Supported: Linux CUDA only | Unsupported; no CPU, MPS, or ROCm fallback | Unsupported; no CPU, MPS, or ROCm fallback | In-process; no external Python worker | 支持 | 不支持 | 不支持 | 不支持 |

pyproject.rocm.toml

@@ -4,7 +4,7 @@ build-backend = "uv_build"
 
 [project]
 name = "unilab"
-version = "1.5.4"
+version = "1.5.5"
 description = "Universal Lab for Robot Learning"
 readme = "README.md"
 license = "Apache-2.0"
@@ -23,7 +23,7 @@ classifiers = [
 requires-python = ">=3.10,<3.14"
 dependencies = [
     "numpy",
-    "unisim-core==2.3.0",
+    "unisim-core==2.4.0",
     "prettytable>=3.10",
     "torch==2.14.0",
     "triton-rocm==3.8.0 ; sys_platform == 'linux' and platform_machine == 'x86_64'",
@@ -68,7 +68,7 @@ mujoco = [
     "mujoco~=3.11.0",
     "mjbatch-uni~=0.2.5",
 ]
-motrix = ["unisim-core[motrix]==2.3.0"]
+motrix = ["unisim-core[motrix]==2.4.0"]
 genesis = ["genesis-world==1.3.3"]
 # Keep the training-stack extra aligned with pyproject.toml.
 unirl = [

pyproject.toml

@@ -14,7 +14,7 @@ source-exclude = [
 
 [project]
 name = "unilab"
-version = "1.5.4"
+version = "1.5.5"
 description = "Configurable, contract-driven robot learning across physics backends"
 readme = "README.md"
 license = "Apache-2.0"
@@ -33,7 +33,7 @@ classifiers = [
 requires-python = ">=3.10,<3.14"
 dependencies = [
     "numpy",
-    "unisim-core==2.3.0",
+    "unisim-core==2.4.0",
     "prettytable>=3.10",
     # A range (not an exact pin) lets ROCm users substitute a ROCm torch
     # build; uv.lock pins the tested CUDA builds via tool.uv.sources.
@@ -102,12 +102,12 @@ newton = [
     "pyglet>=2.1.6,<3",
     "imgui-bundle>=1.92.0",
 ]
-motrix = ["unisim-core[motrix]==2.3.0"]
+motrix = ["unisim-core[motrix]==2.4.0"]
 genesis = ["genesis-world==1.3.3"]
 # Wheels are CPython 3.12/3.13 Linux x86_64 only; the marker keeps uv lock
 # resolvable for the other required-environments.
 superdex = [
-    "unisim-core[superdex]==2.3.0 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'",
+    "unisim-core[superdex]==2.4.0 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'",
 ]
 # Tensor ray perception is optional and is discovered through UniSim's public
 # caster factory. The PyPI distribution is `uniray`; the import namespace is

tests/base/test_motrix_backend_options.py

@@ -332,27 +332,24 @@ def test_motrix_body_sensor_views_use_canonical_world_state() -> None:
     np.testing.assert_allclose(views["track_angvel_w_base"], [[13, 14, 15], [16, 17, 18]])
 
 
-def test_motrix_root_layout_uses_selected_body_floating_base_indices() -> None:
+def test_motrix_root_layout_gates_on_configured_base_and_returns_fixed_columns() -> None:
     import unisim.backend.motrix.backend as mod
 
-    floating_base = SimpleNamespace(
-        dof_pos_indices=[4, 5, 6, 7, 8, 9, 10],
-        dof_vel_indices=[3, 4, 5, 6, 7, 8],
-    )
     bodies = {
         "fixed": SimpleNamespace(floatingbase=None),
-        "floating": SimpleNamespace(floatingbase=floating_base),
+        "floating": SimpleNamespace(floatingbase=SimpleNamespace()),
     }
     backend = object.__new__(mod.MotrixBackend)
     backend._portable_mode = False
+    backend._base_name = "floating"
     backend._model = SimpleNamespace(get_body=lambda name: bodies.get(name))
 
     layout = backend.get_root_state_layout("floating")
-    assert layout.qpos_indices == tuple(range(4, 11))
-    assert layout.qvel_indices == tuple(range(3, 9))
-    with pytest.raises(NotImplementedError, match="fixed.*floating base"):
+    assert layout.qpos_indices == tuple(range(7))
+    assert layout.qvel_indices == tuple(range(6))
+    with pytest.raises(NotImplementedError, match="configured base"):
         backend.get_root_state_layout("fixed")
-    with pytest.raises(ValueError, match="missing.*not found"):
+    with pytest.raises(NotImplementedError, match="configured base"):
         backend.get_root_state_layout("missing")
 
 

uv.rocm.lock

@@ -4688,7 +4688,7 @@ wheels = [
 
 [[package]]
 name = "unilab"
-version = "1.5.4"
+version = "1.5.5"
 source = { editable = "." }
 dependencies = [
     { name = "etils", version = "1.13.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
@@ -4782,8 +4782,8 @@ requires-dist = [
     { name = "trimesh", specifier = ">=3.21.7" },
     { name = "triton-rocm", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'", specifier = "==3.8.0", index = "https://download.pytorch.org/whl/rocm7.2" },
     { name = "typing-extensions" },
-    { name = "unisim-core", specifier = "==2.3.0" },
-    { name = "unisim-core", extras = ["motrix"], marker = "extra == 'motrix'", specifier = "==2.3.0" },
+    { name = "unisim-core", specifier = "==2.4.0" },
+    { name = "unisim-core", extras = ["motrix"], marker = "extra == 'motrix'", specifier = "==2.4.0" },
     { name = "viser", specifier = ">=1.0.26" },
     { name = "wandb", marker = "extra == 'unirl'", specifier = ">=0.22.3" },
 ]
@@ -4800,15 +4800,15 @@ dev = [
 
 [[package]]
 name = "unisim-core"
-version = "2.3.0"
+version = "2.4.0"
 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/31/ba/960eb850827015f38c9533aa634fdd9cecfdfe9bfcb13c5ab73afc8dc9fe/unisim_core-2.3.0.tar.gz", hash = "sha256:72a2cf426c871bbc8ebdd9fe67aceac605bb7f565f6a089a4c2d4a6979e50b08", size = 760373, upload-time = "2026-10-31T09:33:04.774Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/15/2d/e7bc4b34ae8151d9c60cc9a71999f75a0a836f694b25f5d9fff62ee6fe28/unisim_core-2.4.0.tar.gz", hash = "sha256:2e02996c0d8e0cd8a3835778dead20f9b9d85a6ede3993e4f9f4d053c4280cb3", size = 761193, upload-time = "2026-11-02T08:35:07.48Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1c/01/eae91b154d0873f61aa35e3a8b1887feb4230aa0c4c0421109fc4bd922d9/unisim_core-2.3.0-py3-none-any.whl", hash = "sha256:5525bf7260c50d9ec684c1cc43cb0761fc7e65ac9ba3d44731e7dcfb0c96157b", size = 808722, upload-time = "2026-10-31T09:33:02.623Z" },
+    { url = "https://files.pythonhosted.org/packages/71/b8/9dadd2628879d3f4d288a7ed7a12a52020d5a172d2214cea334d5ae57208/unisim_core-2.4.0-py3-none-any.whl", hash = "sha256:e4244848a9a1baa40f6986c3b887c28df243a0ea259b007ee2ca2012e28104aa", size = 809541, upload-time = "2026-11-02T08:35:05.731Z" },
 ]
 
 [package.optional-dependencies]