[2474-P2] 清理 env/command 静默缝：删孤儿 hook、metric fail-closed、注释改写

src/unilab/base/env_factory.py

@@ -46,11 +46,10 @@ def make_registry_env(
     # carry the explicit cold-path id in the opaque override and bind
     # immediately before registry construction.  Binding a non-zero id pins
     # CUDA_VISIBLE_DEVICES for this process, so forward the post-pin
-    # in-process index downstream.  This binding is required, not a
-    # compatibility shim: spawn collectors are fresh interpreters that cannot
-    # inherit the parent process's binding, and only UniLab's
-    # ``bind_genesis_process_device`` sets the pinned-namespace flag its
-    # resolution helpers consult.
+    # in-process index downstream.  This binding is a required cold path of
+    # every spawn collector: fresh interpreters cannot inherit the parent
+    # process's binding, and only UniLab's ``bind_genesis_process_device``
+    # sets the pinned-namespace flag its resolution helpers consult.
     if sim_backend == "genesis" and env_cfg_override is not None:
         genesis_device_id = env_cfg_override.get("genesis_device_id")
         if genesis_device_id is not None:

src/unilab/envs/manager_based_rl_env.py

@@ -1035,23 +1035,8 @@ def _get_overlay() -> list[list[DebugPrimitive]] | None:
 
         return _get_overlay
 
-    def _enter_suppressed_hot_state_refresh(self) -> None:
-        """Allow a cold proxy to temporarily replace NumPy body-state reads."""
-        raise NotImplementedError(
-            f"{type(self).__name__} does not support suppressed hot state refresh"
-        )
-
-    def _exit_suppressed_hot_state_refresh(self) -> None:
-        """Undo :meth:`_enter_suppressed_hot_state_refresh`."""
-        raise NotImplementedError(
-            f"{type(self).__name__} does not support suppressed hot state refresh"
-        )
-
     def _load_managers(self) -> None:
         """Construct managers in the pinned community dependency order."""
-        suppress_hot_state_refresh = bool(getattr(self, "_suppress_hot_state_refresh", False))
-        if suppress_hot_state_refresh:
-            self._enter_suppressed_hot_state_refresh()
         self.event_manager = EventManager(self._cfg.events, self)
         self.command_manager = (
             CommandManager(self._cfg.commands, self) if self._cfg.commands else NullCommandManager()
@@ -1064,8 +1049,6 @@ def _load_managers(self) -> None:
             self,
             scale_by_dt=self._cfg.scale_rewards_by_dt,
         )
-        if suppress_hot_state_refresh:
-            self._exit_suppressed_hot_state_refresh()
         self.curriculum_manager = (
             CurriculumManager(self._cfg.curriculum, self)
             if self._cfg.curriculum

src/unilab/envs/mdp/commands/velocity_command.py

@@ -132,14 +132,17 @@ def tensor_sensor_names(self) -> tuple[str, ...]:
 
     def _metric_velocities(self) -> tuple[torch.Tensor, torch.Tensor]:
         read_plan = getattr(self._env.scene, "read_plan", None)
+        if read_plan is None:
+            raise RuntimeError(
+                "UniformVelocityCommand metrics require the scene's compiled packed "
+                "tensor read plan. The lifecycle order is manager construction, then "
+                "ManagerBasedRlEnv read-plan compilation, then per-step command "
+                "compute; consuming metrics before the plan exists is an ordering bug"
+            )
         names = self.tensor_sensor_names
-        packed = read_plan.sensor_names.get(self.cfg.entity_name, ()) if read_plan else ()
+        packed = read_plan.sensor_names.get(self.cfg.entity_name, ())
         # The scene pack negotiates backend-local aliases (Go2 ``local_linvel``/
         # ``gyro``) but the semantic metric remains the canonical IMU contract.
-        if read_plan is None:
-            # Manager construction and command reset before plan compilation do
-            # not consume metrics; defer to the compiled packed phase.
-            return torch.zeros((self.num_envs, 3)), torch.zeros((self.num_envs, 3))
         aliases = self.packed_sensor_aliases
         resolved_names = tuple(
             next((local for local in aliases.get(name, (name,)) if local in packed), name)

tests/envs/mdp/test_uniform_velocity_command.py

@@ -232,6 +232,15 @@ def test_metrics_and_fixed_interval_resampling_follow_manager_schedule() -> None
     np.testing.assert_allclose(term.time_left, 0.2)
 
 
+def test_metrics_fail_closed_before_read_plan_compilation() -> None:
+    env, _ = _env()
+    manager = _manager(env)
+    env.scene.read_plan = None
+
+    with pytest.raises(RuntimeError, match="compiled packed tensor read plan"):
+        manager.compute(0.1)
+
+
 def test_heading_world_forward_and_standing_modes() -> None:
     all_mask = torch.ones(4, dtype=torch.bool)