From c033a38334f17044c00e8f41c4ac2aa7b7e44838 Mon Sep 17 00:00:00 2001 From: TATP-233 Date: Sun, 6 Sep 2026 03:01:21 +0800 Subject: [PATCH] feat(issue-1514): wire Newton native ViewerGL playback (auto mode, docs, render extra) --- .../en/1-getting_started/2-installation.md | 5 ++- .../en/2-user_guide/3-backends/7-newton.md | 28 +++++++++++--- .../zh_CN/1-getting_started/2-installation.md | 4 +- .../zh_CN/2-user_guide/3-backends/7-newton.md | 24 +++++++++--- .../zh_CN/5-reference/5-support_matrix.md | 2 +- pyproject.toml | 8 ++++ scripts/tools/support_matrix.py | 11 ++++-- .../conf/ppo/task/g1_walk_flat/newton.yaml | 6 +-- .../conf/sac/task/g1_walk_flat/newton.yaml | 6 +-- .../locomotion/g1/test_g1_owner_contract.py | 3 ++ uv.lock | 37 ++++++++++++++++++- 11 files changed, 109 insertions(+), 25 deletions(-) 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 311bfafb6..ba45c2925 100644 --- a/docs/sphinx/source/en/1-getting_started/2-installation.md +++ b/docs/sphinx/source/en/1-getting_started/2-installation.md @@ -165,10 +165,13 @@ uv sync --extra mujoco --extra motrix --extra mjwarp --extra genesis Newton is the exception: the `newton` extra pins the MuJoCo-Warp 3.11 line, which conflicts with the historical `mjwarp` / `mujoco` extras (declared as uv -`conflicts` in `pyproject.toml`). Keep it in a separate environment: +`conflicts` in `pyproject.toml`). Keep it in a separate environment; native +ViewerGL rendering (offline record + interactive) additionally needs the +`newton-render` extra: ```bash uv sync --extra newton +uv sync --extra newton --extra newton-render # when native rendering is needed ``` | Backend | Install path | Important prerequisites | diff --git a/docs/sphinx/source/en/2-user_guide/3-backends/7-newton.md b/docs/sphinx/source/en/2-user_guide/3-backends/7-newton.md index 689df5b49..b6eab26fd 100644 --- a/docs/sphinx/source/en/2-user_guide/3-backends/7-newton.md +++ b/docs/sphinx/source/en/2-user_guide/3-backends/7-newton.md @@ -16,8 +16,10 @@ registered for the `newton` backend), and the cross-backend contract audit algo trees (verdict TRANSFERABLE). Support levels: SAC is **Tested** — a full 5000-iteration training completed on 2026-09-06 on an RTX 4090 / torch 2.8.0+cu128 / newton 1.5.1 / mujoco-warp 3.11 (reward/mean 6.68 → -242.3, episode length → 983, ~43k steps/s, 4m25s wall), with record -playback validated on `model_5000.pt`; PPO remains **Configured** +242.3, episode length → 983, ~43k steps/s, 4m25s wall), with playback +validated on `model_5000.pt`: native ViewerGL offscreen record (800-frame +1280x720 mp4) and an interactive ViewerGL window smoke on a live X +display; PPO remains **Configured** (evidence limited to the owner configs, compose/contract checks, and fail-closed runtime/import boundaries; no training or playback claim yet). @@ -30,8 +32,12 @@ with the MuJoCo-Warp 3.11 / Warp 1.16 line: # In a source checkout: uv sync --extra newton +# Native ViewerGL rendering (offline record + interactive) additionally: +uv sync --extra newton --extra newton-render + # From PyPI: pip install "unilab[newton]" +pip install "unilab[newton,newton-render]" ``` The extra pins `newton==1.5.1`, `mujoco-warp==3.11.0`, `mujoco==3.11.0`, and @@ -84,9 +90,18 @@ as `env.*` fields in the owner YAML: ## Playback and Rendering -The Newton backend has no native UniLab viewer yet: the owner sets -`training.play_render_mode: record`, so playback takes the record/headless -path, and requesting a native interactive renderer fails closed. +The Newton backend renders natively through the upstream +`newton.viewer.ViewerGL` (unisim `newton-render` extra, `pyglet>=2.1.6,<3` ++ `imgui-bundle>=1.92.0`). The owner inherits the base config's +`training.play_render_mode: auto`: with a display, `auto` resolves to +`interactive` (the ViewerGL window); without one it resolves to `record` +(`ViewerGL(headless=True)` offscreen rendering to mp4). Without the render +dependencies, `record` falls back to the MuJoCo offline snapshot renderer +(the plan diagnostic reports `mujoco-snapshot` vs the native +`newton-viewer-gl`), while `interactive` fails closed when dependencies or +a display are missing. Headless offscreen rendering still needs an OpenGL +context: set `PYOPENGL_PLATFORM=egl` on display-less Linux hosts and +`PYOPENGL_PLATFORM=glx` under Wayland. ```bash uv run eval --algo ppo --task g1_walk_flat --sim newton \ @@ -104,7 +119,8 @@ than silently degrading: - **Runtime PD-gain randomization**: Newton currently rejects it, and the owner keeps `events.pd_gains: null` to stay fail-closed until the adapter adds the capability. -- **Native interactive rendering**: see Playback above. +- **Camera kwargs on the native render path**: the native ViewerGL path + ignores `camera_kwargs` (the MuJoCo snapshot path still honors them). ## Cross-Backend Migration (sim2sim) 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 5ef54c0cd..b82b62fe1 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 @@ -149,10 +149,12 @@ uv sync --extra mujoco --extra motrix --extra mjwarp --extra genesis Newton 是例外：`newton` extra 钉定的 MuJoCo-Warp 3.11 版本线与历史 `mjwarp` / `mujoco` extra 互斥（`pyproject.toml` 的 uv `conflicts` 声明）， -请为它单独建一个环境： +请为它单独建一个环境；原生 ViewerGL 渲染（离线 record + 交互式）另需 +`newton-render` extra： ```bash uv sync --extra newton +uv sync --extra newton --extra newton-render # 需要原生渲染时 ``` | 后端 | 安装路径 | 重要前置条件 | diff --git a/docs/sphinx/source/zh_CN/2-user_guide/3-backends/7-newton.md b/docs/sphinx/source/zh_CN/2-user_guide/3-backends/7-newton.md index e8e66c7a4..42744efa8 100644 --- a/docs/sphinx/source/zh_CN/2-user_guide/3-backends/7-newton.md +++ b/docs/sphinx/source/zh_CN/2-user_guide/3-backends/7-newton.md @@ -16,7 +16,9 @@ mujoco↔newton（结论 TRANSFERABLE）。支持等级：SAC 为 **Tested**— 2026-09-06 在 RTX 4090 / torch 2.8.0+cu128 / newton 1.5.1 / mujoco-warp 3.11 上完成完整 5000-iteration 训练（reward/mean 6.68 → 242.3， episode length → 983，约 43k steps/s，wall 4m25s），并对 -`model_5000.pt` 做了 record 回放验证；PPO 保持 **Configured**（现有 +`model_5000.pt` 完成回放验证：原生 ViewerGL 离屏 record（800 帧 +1280x720 mp4）与交互式 ViewerGL 窗口冒烟（真实 X display）；PPO 保持 +**Configured**（现有 证据限于 owner 配置、compose/contract 检查和 fail-closed 的 runtime/import 边界，尚无训练或回放验证结论）。 @@ -29,8 +31,12 @@ MuJoCo-Warp 3.11 / Warp 1.16 系列： # 源码 checkout： uv sync --extra newton +# 原生 ViewerGL 渲染（离线 record + 交互式 interactive）另需： +uv sync --extra newton --extra newton-render + # 从 PyPI 安装： pip install "unilab[newton]" +pip install "unilab[newton,newton-render]" ``` 该 extra 精确钉定 `newton==1.5.1`、`mujoco-warp==3.11.0`、 @@ -79,9 +85,16 @@ Newton/MuJoCo-Warp 3.11 要求显式的设备与存储容量，对应 owner YAML ## Playback 与渲染 -Newton 后端尚无原生 UniLab viewer：owner 设置 -`training.play_render_mode: record`，回放走录制 / 无头路径；请求原生 -交互式渲染器会 fail-closed。 +Newton 后端通过上游 `newton.viewer.ViewerGL` 提供**原生渲染**（unisim +`newton-render` extra，`pyglet>=2.1.6,<3` + `imgui-bundle>=1.92.0`）。 +owner 继承 base 配置的 `training.play_render_mode: auto`：有显示时 +`auto` 解析为 `interactive`（ViewerGL 交互窗口），无显示时解析为 +`record`（`ViewerGL(headless=True)` 离屏渲染写 mp4）。未安装渲染依赖 +时 `record` 回退到 MuJoCo 离线快照渲染（plan 诊断中的 renderer 为 +`mujoco-snapshot`，原生路径为 `newton-viewer-gl`）；`interactive` 在 +缺依赖或无显示时 fail-closed。headless 离屏渲染仍需 OpenGL context： +无显示服务器的 Linux 主机设 `PYOPENGL_PLATFORM=egl`，Wayland 设 +`PYOPENGL_PLATFORM=glx`。 ```bash uv run eval --algo ppo --task g1_walk_flat --sim newton \ @@ -97,7 +110,8 @@ uv run eval --algo sac --task g1_walk_flat --sim newton \ - **PD gain 运行时随机化**：Newton 当前拒绝该能力，owner 显式设置 `events.pd_gains: null` 保持 fail-closed，直到适配器补齐。 -- **原生交互式渲染**：见上文 Playback 一节。 +- **原生渲染路径的相机参数**：native ViewerGL 路径忽略 + `camera_kwargs`（MuJoCo 快照路径仍生效）。 ## 跨后端迁移（sim2sim） diff --git a/docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md b/docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md index 7ec5a6dab..621b3ed77 100644 --- a/docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md +++ b/docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md @@ -134,5 +134,5 @@ uv run scripts/generate_support_matrix.py --write - Validated isaacgym entrypoints are explicitly recorded in `_MAINTAINER_VALIDATED_ISAACGYM_ENTRYPOINT_TASKS` (real hardware via the external Python 3.8 worker runtime; not covered by repo CI). - Validated genesis entrypoints are explicitly recorded in `_MAINTAINER_VALIDATED_GENESIS_ENTRYPOINT_TASKS` (real hardware, genesis-world extra + CUDA; not covered by repo CI); near-risk coverage lives in `tests/base/test_genesis_backend.py` (fake runtime), `tests/base/test_genesis_runtime.py` (real-runtime slow lane), and the genesis env smoke in `tests/envs/locomotion/g1/test_g1_owner_contract.py`. - IsaacSim owner scope is intentionally not promoted to `Tested`; `_MAINTAINER_VALIDATED_ISAACSIM_ENTRYPOINT_TASKS` is empty until a maintainer records full training evidence. Rendering protocol coverage lives in `tests/base/test_isaacsim_backend.py`; it is not a substitute for successful real playback. -- `newton` is an isolated optional owner backed by Newton 1.5.1 and the MuJoCo-Warp 3.11 / Warp 1.16 line. Validated newton entrypoints are explicitly recorded in `_MAINTAINER_VALIDATED_NEWTON_ENTRYPOINT_TASKS` (real hardware, newton extra + CUDA; not covered by repo CI); remaining cells rely on the G1 PPO/SAC owner configs, compose/contract checks, and fail-closed runtime/import boundaries. +- `newton` is an isolated optional owner backed by Newton 1.5.1 and the MuJoCo-Warp 3.11 / Warp 1.16 line. Validated newton entrypoints are explicitly recorded in `_MAINTAINER_VALIDATED_NEWTON_ENTRYPOINT_TASKS` (real hardware, newton extra + CUDA; not covered by repo CI); remaining cells rely on the G1 PPO/SAC owner configs, compose/contract checks, and fail-closed runtime/import boundaries. Native ViewerGL playback (offscreen record + interactive) is wired through the unisim `newton-render` extra; without it, record falls back to the MuJoCo snapshot renderer and interactive stays fail-closed. diff --git a/pyproject.toml b/pyproject.toml index 04213d57a..1bfd7a469 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -145,6 +145,14 @@ newton = [ # dependency, so the extra carries it explicitly. "trimesh>=3.21.7", ] +newton-render = [ + # Native ViewerGL rendering for the newton backend (offline record and + # interactive playback). Install together with the newton extra; bounds + # mirror unisim-core's newton-render extra and newton's own examples + # extra. Headless record still needs an OpenGL context (EGL/GLX). + "pyglet>=2.1.6,<3", + "imgui-bundle>=1.92.0", +] motrix = ["motrixsim-core==0.8.2"] genesis = [ # Genesis imports as ``genesis`` and owns the GPU physics implementation; diff --git a/scripts/tools/support_matrix.py b/scripts/tools/support_matrix.py index 7f16aa901..d3a1ca5d7 100644 --- a/scripts/tools/support_matrix.py +++ b/scripts/tools/support_matrix.py @@ -65,9 +65,12 @@ # repo CI). sac_torch g1_walk_flat: full 5000-iteration training completed # on 2026-09-06 (RTX 4090, torch 2.8.0+cu128, newton 1.5.1, mujoco-warp # 3.11; reward/mean 6.68 -> 242.3, episode length -> 983, ~43k steps/s, -# 4m25s wall, run 2026-09-06_01-21-36_newton) plus record playback -# validation on model_5000.pt (800-frame MuJoCo snapshot render, walking -# gait confirmed). PPO remains ``Configured`` without runtime evidence. +# 4m25s wall, run 2026-09-06_01-21-36_newton). Playback validated the same +# day on model_5000.pt: native ViewerGL offscreen record (800-frame +# 1280x720 mp4 via ``newton-viewer-gl``) and an interactive ViewerGL window +# smoke on a live X display; the MuJoCo snapshot record path remains as the +# no-render-deps fallback. PPO remains ``Configured`` without runtime +# evidence. _MAINTAINER_VALIDATED_NEWTON_ENTRYPOINT_TASKS: frozenset[tuple[str, str]] = frozenset( { ("sac_torch", "g1_walk_flat"), @@ -433,7 +436,7 @@ def render_support_matrix(root: Path | None = None) -> str: "- Validated isaacgym entrypoints are explicitly recorded in `_MAINTAINER_VALIDATED_ISAACGYM_ENTRYPOINT_TASKS` (real hardware via the external Python 3.8 worker runtime; not covered by repo CI).", "- Validated genesis entrypoints are explicitly recorded in `_MAINTAINER_VALIDATED_GENESIS_ENTRYPOINT_TASKS` (real hardware, genesis-world extra + CUDA; not covered by repo CI); near-risk coverage lives in `tests/base/test_genesis_backend.py` (fake runtime), `tests/base/test_genesis_runtime.py` (real-runtime slow lane), and the genesis env smoke in `tests/envs/locomotion/g1/test_g1_owner_contract.py`.", "- IsaacSim owner scope is intentionally not promoted to `Tested`; `_MAINTAINER_VALIDATED_ISAACSIM_ENTRYPOINT_TASKS` is empty until a maintainer records full training evidence. Rendering protocol coverage lives in `tests/base/test_isaacsim_backend.py`; it is not a substitute for successful real playback.", - "- `newton` is an isolated optional owner backed by Newton 1.5.1 and the MuJoCo-Warp 3.11 / Warp 1.16 line. Validated newton entrypoints are explicitly recorded in `_MAINTAINER_VALIDATED_NEWTON_ENTRYPOINT_TASKS` (real hardware, newton extra + CUDA; not covered by repo CI); remaining cells rely on the G1 PPO/SAC owner configs, compose/contract checks, and fail-closed runtime/import boundaries.", + "- `newton` is an isolated optional owner backed by Newton 1.5.1 and the MuJoCo-Warp 3.11 / Warp 1.16 line. Validated newton entrypoints are explicitly recorded in `_MAINTAINER_VALIDATED_NEWTON_ENTRYPOINT_TASKS` (real hardware, newton extra + CUDA; not covered by repo CI); remaining cells rely on the G1 PPO/SAC owner configs, compose/contract checks, and fail-closed runtime/import boundaries. Native ViewerGL playback (offscreen record + interactive) is wired through the unisim `newton-render` extra; without it, record falls back to the MuJoCo snapshot renderer and interactive stays fail-closed.", ] ) return "\n".join(lines) diff --git a/src/unilab/conf/ppo/task/g1_walk_flat/newton.yaml b/src/unilab/conf/ppo/task/g1_walk_flat/newton.yaml index 4beacc8a8..c2bc66b86 100644 --- a/src/unilab/conf/ppo/task/g1_walk_flat/newton.yaml +++ b/src/unilab/conf/ppo/task/g1_walk_flat/newton.yaml @@ -10,9 +10,9 @@ defaults: training: task_name: G1WalkFlat sim_backend: newton - # Newton has no native UniLab viewer yet; eval uses the configured record / - # headless path and fails closed if a native renderer is requested. - play_render_mode: record + # Native ViewerGL rendering (offline record + interactive) is provided by + # the backend; playback inherits the base config's auto mode (interactive + # with a display, record otherwise). algo: num_envs: 2048 diff --git a/src/unilab/conf/sac/task/g1_walk_flat/newton.yaml b/src/unilab/conf/sac/task/g1_walk_flat/newton.yaml index 10b1177fa..977d39864 100644 --- a/src/unilab/conf/sac/task/g1_walk_flat/newton.yaml +++ b/src/unilab/conf/sac/task/g1_walk_flat/newton.yaml @@ -6,8 +6,9 @@ # capacities: a null newton_device is intentional — the process device binder # injects the rank-local CUDA device before materialization. Runtime PD gain # randomization is rejected by the backend, so pd_gains stays disabled. -# Newton has no native UniLab viewer yet; eval uses the configured record / -# headless path and fails closed if a native renderer is requested. +# Native ViewerGL rendering (offline record + interactive) is provided by the +# backend; playback inherits the base config's auto mode (interactive with a +# display, record otherwise). defaults: - /task/g1_walk_flat/base - _self_ @@ -15,7 +16,6 @@ defaults: training: task_name: G1WalkFlat sim_backend: newton - play_render_mode: record algo: num_envs: 2048 learning_starts: 10 diff --git a/tests/envs/locomotion/g1/test_g1_owner_contract.py b/tests/envs/locomotion/g1/test_g1_owner_contract.py index 558aadd66..eb0e1568b 100644 --- a/tests/envs/locomotion/g1/test_g1_owner_contract.py +++ b/tests/envs/locomotion/g1/test_g1_owner_contract.py @@ -586,6 +586,9 @@ def test_g1_owner_materializes_complete_plain_manager_cfg( assert env_cfg.newton_nconmax == 320 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