feat(macos): enable mujoco/mjbatch tensor-runtime off-policy training on macOS

tensor_runtime_workspace.json

@@ -7,15 +7,15 @@
       "name": "unisim-core",
       "repository": "https://github.com/unilabsim/unisim.git",
       "ref": "develop/tensor-runtime",
-      "commit": "09d5caed9b604abf7a528560725d692e9d2562a9",
+      "commit": "5e835923e892e9f79213eac64565beb90b7bb074",
       "path": "../unisim",
       "sentinel_env": "UNILAB_LOCAL_UNISIM"
     },
     {
       "name": "unilab-rl",
       "repository": "https://github.com/unilabsim/unilab_rl.git",
       "ref": "develop/tensor-runtime",
-      "commit": "75680c23f9bb750fdbaf6c0dee53d57e0c6a89e8",
+      "commit": "036fcba6a7c3c0f0b409ab0b19185f2931067632",
       "path": "../unilab_rl"
     },
     {

tests/base/test_genesis_backend.py

@@ -34,10 +34,26 @@
     ResetRandomizationPayload,
 )
 
+import unilab.base.backend_factory as backend_factory
 from unilab.base.backend_factory import create_backend, env_backend_kwargs
 from unilab.base.base import EnvCfg
 from unilab.base.scene import SceneCfg
 
+
+@pytest.fixture(autouse=True)
+def _bypass_cuda_only_platform_gate(monkeypatch: pytest.MonkeyPatch):
+    """Exercise the adapter below the factory's CUDA-only platform gate.
+
+    The fail-closed gate (issue #1811 platform matrix) has dedicated coverage
+    in ``tests/base/test_cuda_backend_platform_preflight.py``.  These
+    fake-runtime suites intentionally run on CUDA-less hosts, so the gate is
+    bypassed here to keep the adapter behavior under test reachable.
+    """
+    monkeypatch.setattr(
+        backend_factory, "_validate_cuda_only_backend_platform", lambda *args, **kwargs: None
+    )
+
+
 from .genesis_fake_runtime import ACTUATED_DOFS, N_LINKS, NQ, NV, make_fake_genesis
 
 # Must stay in sync with the model spec in genesis_fake_runtime.py.

tests/base/test_isaacgym_backend.py

@@ -28,9 +28,25 @@
 from unisim.backend.isaacgym.sensors import scan_scene_metadata
 from unisim.dr.types import IntervalTermOp
 
+import unilab.base.backend_factory as backend_factory
 from unilab.base.backend_factory import create_backend
 from unilab.base.scene import SceneCfg
 
+
+@pytest.fixture(autouse=True)
+def _bypass_cuda_only_platform_gate(monkeypatch: pytest.MonkeyPatch):
+    """Exercise the adapter below the factory's CUDA-only platform gate.
+
+    The fail-closed gate (issue #1811 platform matrix) has dedicated coverage
+    in ``tests/base/test_cuda_backend_platform_preflight.py``.  These
+    mock-worker suites intentionally run on CUDA-less hosts, so the gate is
+    bypassed here to keep the adapter behavior under test reachable.
+    """
+    monkeypatch.setattr(
+        backend_factory, "_validate_cuda_only_backend_platform", lambda *args, **kwargs: None
+    )
+
+
 _MOCK_WORKER = str(Path(__file__).resolve().parent / "isaacgym_mock_worker.py")
 
 SIM_DT = 0.005

tests/base/test_isaacgym_fixed_variants.py

@@ -10,9 +10,25 @@
 from unisim.backend.isaacgym.backend import IsaacGymBackend
 from unisim.dr.types import FixedVariantPlan, ModelSourceDescriptor
 
+import unilab.base.backend_factory as backend_factory
 from unilab.base.backend_factory import create_backend
 from unilab.base.scene import SceneCfg
 
+
+@pytest.fixture(autouse=True)
+def _bypass_cuda_only_platform_gate(monkeypatch: pytest.MonkeyPatch):
+    """Exercise the adapter below the factory's CUDA-only platform gate.
+
+    The fail-closed gate (issue #1811 platform matrix) has dedicated coverage
+    in ``tests/base/test_cuda_backend_platform_preflight.py``.  These
+    mock-worker suites intentionally run on CUDA-less hosts, so the gate is
+    bypassed here to keep the adapter behavior under test reachable.
+    """
+    monkeypatch.setattr(
+        backend_factory, "_validate_cuda_only_backend_platform", lambda *args, **kwargs: None
+    )
+
+
 _MOCK_WORKER = Path(__file__).resolve().parent / "isaacgym_mock_worker.py"
 _SIM_DT = 0.005
 _DOF_NAMES = ("j0", "j1", "j2")

tests/base/test_isaacsim_backend.py

@@ -35,13 +35,29 @@
 from unisim.backend.isaacsim.scene_worker import _rotate
 from unisim.backend.isaacsim.worker import _resolve_articulation_root_prim_path
 
+import unilab.base.backend_factory as backend_factory
 from unilab.base.backend_factory import (
     _validate_isaacsim_tensor_cuda_ipc_runtime,
     create_backend,
 )
 from unilab.base.base import EnvCfg
 from unilab.base.scene import SceneCfg
 
+
+@pytest.fixture(autouse=True)
+def _bypass_cuda_only_platform_gate(monkeypatch: pytest.MonkeyPatch):
+    """Exercise the adapter below the factory's CUDA-only platform gate.
+
+    The fail-closed gate (issue #1811 platform matrix) has dedicated coverage
+    in ``tests/base/test_cuda_backend_platform_preflight.py``.  These
+    mock-worker suites intentionally run on CUDA-less hosts, so the gate is
+    bypassed here to keep the adapter behavior under test reachable.
+    """
+    monkeypatch.setattr(
+        backend_factory, "_validate_cuda_only_backend_platform", lambda *args, **kwargs: None
+    )
+
+
 _MOCK_WORKER = str(Path(__file__).resolve().parent / "isaacgym_mock_worker.py")
 SIM_DT = 0.005
 NUM_ENVS = 2

tests/envs/locomotion/g1/test_g1_owner_contract.py

@@ -482,6 +482,7 @@ def test_g1_walk_registries_are_manager_only() -> None:
             98,
             101,
             id="sac-newton",
+            marks=pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA is unavailable"),
         ),
     ),
 )
@@ -538,6 +539,7 @@ def test_g1_registry_executes_real_manager_runtime(
         env.close()
 
 
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA is unavailable")
 def test_g1_walk_newton_selected_reset_preserves_rows_and_rng() -> None:
     """The canonical Newton walk owner keeps selected reset row-scoped."""
     registry.ensure_registries()

tests/envs/mdp/test_observations.py

@@ -298,6 +298,7 @@ def test_named_sensor_terms_bind_once_and_only_read_cached_views() -> None:
     assert isinstance(gravity_term, mdp.projected_gravity_from_sensor)
 
 
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA is unavailable")
 def test_cuda_manager_names_every_non_tensor_observation_term() -> None:
     env, _ = _env()
     cast(Any, env).device = torch.device("cuda", index=torch.cuda.current_device())

tests/envs/test_env_configs.py

@@ -1030,6 +1030,20 @@ def test_flashsac_g1_motion_mujoco_tensor_command_roll_out() -> None:
                 state = env.step(torch.zeros((2, 29), dtype=torch.float32))
             assert state.obs["obs"].shape == (2, 160)
             assert torch.isfinite(state.obs["obs"]).all()
+            # Selected-row autoreset drives the tensor motion command through
+            # the packed host-bridge commit; it must not raise or step physics.
+            original_step = env.backend.step_tensor
+            step_calls = []
+
+            def count_step(*args, **kwargs):
+                step_calls.append(1)
+                return original_step(*args, **kwargs)
+
+            env.backend.step_tensor = count_step
+            env.reset(env_indices=torch.tensor([1], dtype=torch.int64))
+            assert not step_calls
+            state = env.step(torch.zeros((2, 29), dtype=torch.float32))
+            assert torch.isfinite(state.obs["obs"]).all()
         finally:
             env.close()
         print("[mujoco tensor motion rollout] OK")

tests/scripts/test_benchmark_scope.py

@@ -7,7 +7,6 @@
 MARKER = "HISTORICAL SHELVED-BACKEND BENCHMARK (#1811)"
 HISTORICAL_BENCHMARKS = (
     "benchmark_drake_performance.py",
-    "outputs/velb_compare/micro_velb.py",
     "physics/benchmark_isaacgym_fixed_variants.py",
     "physics/benchmark_motrix_body_state_ab.py",
     "physics/benchmark_motrix_set_state_ab.py",

tests/training/test_soak.py

@@ -98,6 +98,10 @@ def _run_with_summary(tmp_path: Path, summary: object) -> dict[str, object]:
 
 
 def test_g1_flashsac_soak_command_uses_owner_route(tmp_path: Path) -> None:
+    from importlib.util import find_spec
+
+    if find_spec("mujoco_warp") is None or find_spec("warp") is None:
+        pytest.skip("mjwarp extra is not installed")
     command = build_g1_flashsac_mjwarp_command(
         num_envs=16,
         iterations=3,
@@ -123,6 +127,10 @@ def test_g1_flashsac_soak_command_rejects_owned_override(tmp_path: Path) -> None
         )
 
 
+@pytest.mark.skipif(
+    sys.platform != "linux",
+    reason="soak resource sampling reads the Linux /proc process tree",
+)
 def test_soak_monitor_accepts_completed_run(tmp_path: Path) -> None:
     summary = _completed_summary()