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Merged
TATP-233 merged 1 commit into from
Nov 4, 2026
Merged

release: unilab 1.5.7 #2576

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16 changes: 16 additions & 0 deletions docs/sphinx/source/changelog.md
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,22 @@ 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)。

## 1.5.7 (2026-11-04)

### Changed / 变更

- The default and ROCm profiles now pin `unisim-core==2.6.0`, including the
Motrix and SuperDex extras, and the Drake extra now pins
`drake-uni==0.2.0`. The new DrakeUni release adds the typed batch physics
configuration (`DrakePhysicsConfig`) and the native effective-settings
readback consumed through `create_backend(..., drake_physics=...)`
(unilabsim/drake_uni#5).
默认与 ROCm profile 现在均钉定 `unisim-core==2.6.0`（包括 Motrix 与
SuperDex extra）,Drake extra 现在钉定 `drake-uni==0.2.0`。新版
DrakeUni 增加了类型化的批量物理配置（`DrakePhysicsConfig`）与原生生效
设置回读，可经 `create_backend(..., drake_physics=...)` 使用
(unilabsim/drake_uni#5)。

## 1.5.6 (2026-11-02)

### Changed / 变更
Expand Down
8 changes: 4 additions & 4 deletions pyproject.rocm.toml
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Expand Up @@ -4,7 +4,7 @@ build-backend = "uv_build"

[project]
name = "unilab"
version = "1.5.6"
version = "1.5.7"
description = "Universal Lab for Robot Learning"
readme = "README.md"
license = "Apache-2.0"
Expand All @@ -23,7 +23,7 @@ classifiers = [
requires-python = ">=3.10,<3.14"
dependencies = [
"numpy",
"unisim-core==2.5.0",
"unisim-core==2.6.0",
"prettytable>=3.10",
"torch==2.14.0",
"triton-rocm==3.8.0 ; sys_platform == 'linux' and platform_machine == 'x86_64'",
Expand Down Expand Up @@ -60,15 +60,15 @@ uni-cumps = "unilab.training.cuda_mps_cli:main"

[project.optional-dependencies]
drake = [
"drake-uni==0.1.0",
"drake-uni==0.2.0",
]
# mjbatch is built and version-checked against mujoco==3.11.0; switching
# MuJoCo versions requires an mjbatch rebuild.
mujoco = [
"mujoco~=3.11.0",
"mjbatch-uni~=0.2.5",
]
motrix = ["unisim-core[motrix]==2.5.0"]
motrix = ["unisim-core[motrix]==2.6.0"]
genesis = ["genesis-world==1.3.3"]
# Keep the training-stack extra aligned with pyproject.toml.
unirl = [
Expand Down
10 changes: 5 additions & 5 deletions pyproject.toml
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Expand Up @@ -14,7 +14,7 @@ source-exclude = [

[project]
name = "unilab"
version = "1.5.6"
version = "1.5.7"
description = "Configurable, contract-driven robot learning across physics backends"
readme = "README.md"
license = "Apache-2.0"
Expand All @@ -33,7 +33,7 @@ classifiers = [
requires-python = ">=3.10,<3.14"
dependencies = [
"numpy",
"unisim-core==2.5.0",
"unisim-core==2.6.0",
"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.
Expand Down Expand Up @@ -79,7 +79,7 @@ Issues = "https://github.com/unilabsim/UniLab/issues"
# Drake C++ is an external toolchain; the native extension is built against
# the local DRAKE_HOME after sync. mujoco provides the playback renderer.
drake = [
"drake-uni==0.1.0",
"drake-uni==0.2.0",
"mujoco>=3.5",
]
# mjbatch is built and version-checked against mujoco==3.11.0; switching
Expand All @@ -102,12 +102,12 @@ newton = [
"pyglet>=2.1.6,<3",
"imgui-bundle>=1.92.0",
]
motrix = ["unisim-core[motrix]==2.5.0"]
motrix = ["unisim-core[motrix]==2.6.0"]
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]==2.5.0 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'",
"unisim-core[superdex]==2.6.0 ; 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
Expand Down
23 changes: 10 additions & 13 deletions uv.lock
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21 changes: 9 additions & 12 deletions uv.rocm.lock
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Expand Up @@ -757,16 +757,13 @@ wheels = [

[[package]]
name = "drake-uni"
version = "0.1.0"
version = "0.2.0"
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/95/3a/248c89902111de84dd8bbaa947da87f80a4ec6e251197f4b82f6636eb0fc/drake_uni-0.1.0.tar.gz", hash = "sha256:46875ba06685ab73ab9b77a955f04c441c2aef21f8e15a9199a2d2c0ebb328f3", size = 36819, upload-time = "2026-09-02T07:22:39.204Z" }
wheels = [
{ url = "https://files.pythonhosted.org/packages/a0/58/ac1b25a33b34965c3ef0a414fa595cea21cb2c9b6d18fe10da0da67a23d3/drake_uni-0.1.0-py3-none-any.whl", hash = "sha256:7acb6c39b5c343c6875137cc2589d7708f1d9afd5ed5da1cc93b7647e09ef5f0", size = 34949, upload-time = "2026-09-02T07:22:37.386Z" },
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sdist = { url = "https://files.pythonhosted.org/packages/92/f7/e501abb16add353dcc9cbb817fb03d2b65398ff9f3c331e7ef46ac64558f/drake_uni-0.2.0.tar.gz", hash = "sha256:cd01dc1187cb85131ad7413797b02e5f6235d2124b8cc9df249dc8069bcc8d85", size = 58843, upload-time = "2026-11-04T08:07:41.198Z" }

[[package]]
name = "embreex"
Expand Down Expand Up @@ -4688,7 +4685,7 @@ wheels = [

[[package]]
name = "unilab"
version = "1.5.6"
version = "1.5.7"
source = { editable = "." }
dependencies = [
{ name = "etils", version = "1.13.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
Expand Down Expand Up @@ -4752,7 +4749,7 @@ dev = [

[package.metadata]
requires-dist = [
{ name = "drake-uni", marker = "extra == 'drake'", specifier = "==0.1.0" },
{ name = "drake-uni", marker = "extra == 'drake'", specifier = "==0.2.0" },
{ name = "etils" },
{ name = "genesis-world", marker = "extra == 'genesis'", specifier = "==1.3.3" },
{ name = "gymnasium" },
Expand Down Expand Up @@ -4782,8 +4779,8 @@ 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 = "==2.5.0" },
{ name = "unisim-core", extras = ["motrix"], marker = "extra == 'motrix'", specifier = "==2.5.0" },
{ name = "unisim-core", specifier = "==2.6.0" },
{ name = "unisim-core", extras = ["motrix"], marker = "extra == 'motrix'", specifier = "==2.6.0" },
{ name = "viser", specifier = ">=1.0.26" },
{ name = "wandb", marker = "extra == 'unirl'", specifier = ">=0.22.3" },
]
Expand All @@ -4800,15 +4797,15 @@ dev = [

[[package]]
name = "unisim-core"
version = "2.5.0"
version = "2.6.0"
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'" },
]
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]

[package.optional-dependencies]
Expand Down
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