release: consolidate SuperDex integration and bump UniLab - #1545
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feat(superdex): integrate FR3 and Go2 research task owners
…lease/superdex-1.1.1
… into release/superdex-1.1.1
This was referenced Sep 9, 2026
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Scale the superdex owner to a real training recipe (1024 envs, 400 iterations), pin the twist command to a fixed 0.5 m/s forward target, and rebalance tracking/action-rate weights for SuperDex contact physics.
Wire env.superdex_execution_mode ('batch' default, 'serial' for native
SuperDex debugger sessions) from EnvCfg through env_backend_kwargs into
unisim's create_backend. The default stays absent from the adapter kwargs
so unisim-core releases that predate the option keep working; 'serial'
requires the adapter side of unilabsim/unisim#55.
Also drop the stale '1 stays serial' note on superdex_num_workers: a
single executor worker is still batched execution, not the serial mode.
…ingle-env execution eval --sim superdex --render-mode interactive stays on the train-script play path but renders through the native Polyscope viewer, which shares the scene's thread with stepping. The owner layer injects superdex_execution_mode=serial for interactive play (mirroring the isaacsim render-intent precedent), and the CLI forces training.play_env_num=1 unless the user set it explicitly, matching the unisim side that fails closed for batch mode or multi-env interactive playback (unilabsim/unisim#55).
# Conflicts: # docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md # pyproject.toml # tests/tasks/test_migration_matrix.py
# Conflicts: # docs/sphinx/source/adr/ADR-0000-index.md # docs/sphinx/source/adr/README.md
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Motivation
Consolidates the SuperDex integration (supersedes #1542, #1544) into one release PR. Since the last update, three things landed on top:
superdex-physics-uni/superdex-robotics-uniwheels, cp312 + cp313) instead of a local source build —unisimmain switched its optional dependency.unisimgained a SuperDex serial execution mode (bug(superdex): SceneBatchExecutor violates DebugDraw scene-thread affinity unilabsim/unisim#55) so the native SuperDex viewer/debugger can attach to a single scene; UniLab wires it throughEnvCfg.superdex_execution_mode.training.play_render_mode=interactive) now uses the native SuperDex viewer for the superdex backend, automatically forcing serial execution and a single env (training.play_env_num=1), matching the existing per-backend interactive precedents (isaacsim/mujoco).What changed (this branch vs main, latest commits)
7eb9e338d350ecb2EnvCfg.superdex_execution_mode(batchdefault,serialopt-in); only forwarded to unisim when non-default so older pinned unisim keeps working225cde5bserialmode +play_env_num=1; CLI gate wording updated to Python 3.12/3.13; docs (en/zh_CN)Required companion changes (already on
unisimmain, no version bump):11bc685superdex-physics-uni/superdex-robotics-uniwheels; fix ±inf force-range MJCF export328ac9fexecution_mode="batch"/"serial"; serial runs scenes on the env thread; batch refuses to run while the native debug server has a connectiond9a03dcsuperdex.physics.viewer.Viewer(Polyscope), fail-closed unless serial +num_envs == 1Validation
make checkgreen on both repos (unisim: 252 passed; UniLab: ruff/mypy/pytest clean for the touched suites —test_cli.py,test_training_helpers.pysuperdex cases,test_superdex_backend_options.py).logs/rsl_rl_ppo/Go2JoystickFlat/2026-09-09_15-39-02_superdex): composedplay_only + play_render_mode=interactive + play_env_num=1config, asserted the owner injectsserial, ranplay_rsl_rlthrough checkpoint load, policy rollout, native viewer startup ("Starting interactive visualization..."), and clean return.Known limitations (pre-existing, not introduced here)
main'srun_playbackstill passesextra_data_getter; unisim renamed itdebug_overlay_getterin feat: adapt TD3 fixes from dev/go2joystickflatterrain-td3 #53. The eval play path needs that drift resolved (or this branch rebased onto a unisim-consuming main) before the stockevalCLI works end-to-end. UniLabuv.lockstill pins an older unisim rev.test_on_frame_paints_video_framesfailure rides in from upstream main.