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refactor!: Roadmap #2434 API 命名规范化收尾 + unisim-core 2.0.0 集成 - #2453
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fix: remove dead API scaffolding (#2437)
refactor!: fix misleading public API names
Implements #2439 on top of dev/issue-2434-api-naming. This is a naming/API cleanup with no intended behavior change. It renames the Manager RNG module/class and env attribute, unsuffixes tensor-only EntityData tables, unifies reset and RL runtime naming, removes the always-true uses_tensor_actions contract flag, and deletes duplicate motion-tracking properties. Documentation and tests are updated with the renamed public surface. Validation: make check; make test; make test-all.
…ix-convention refactor: unify tensor API naming
Implements #2442 on top of dev/issue-2434-api-naming. Naming/API cleanup with no intended behavior change: - rl/algos: build_sac_double_buffer_runner/build_flashsac_double_buffer_runner -> build_double_buffer_runner; flash_sac/update.py -> objectives.py; validate_flashsac_actor -> validate_custom_actor; EnsembleFlashSACEmbedder/ EnsembleFlashSACBlock -> EnsembleEmbedder/EnsembleBlock; common/learner_boilerplate.py -> learner_base.py with LearnerBaseMixin; appo/runtime.py -> resolution.py - rl/runtime: offpolicy/runtime.py -> resolution.py; logging/common.py -> base.py; fold SharedBufferBase into ReplayBuffer (delete shared_buffer.py) - training: CudaMpsCliError -> CudaMpsError; TensorNanGuard -> NanGuard; move build_g1_flashsac_mjwarp_command to scripts/benchmark/torch_env/ g1_flashsac_soak.py - tasks: drop Tensor prefix from motion-tracking common runtime pieces (TensorResetPlan -> ResetMasks); Go2TensorParity* -> Go2Parity*; manager term classes moved to CamelCase per the function=snake_case / class=CamelCase convention (Hydra YAMLs updated) - base: BackendAdapter -> EnvConfigAdapter; apply_env_cpu_runtime -> apply_cpu_confinement; demo._mxpython_executable -> _motrix_python_executable - terrains: hf_pyramid_slope(_inv) presets -> pyramid_slope(_inv); utils.py -> heightfield_utils.py Validation: make check; make test (2677 passed, 60 skipped).
Rename privately-named contract members that are consumed across module boundaries so the public name is the only spelling, without changing any protocol semantics, timing, or numerics: - unilab.managers._types -> unilab.managers.types (git mv; all importers) - EntityScene._tensor_read_plan -> scene.read_plan; env tensor reset bound attributes lose their underscore prefix; Entity._root_body_name -> root_body_name (EntityData internals stay private) - envs/mdp/observations helpers -> quat_apply_inverse, require_read_plan, root_body_view, joint_view, world_to_body_vector (added to __all__) - locomotion common manager_terms _command/_real -> require_command/ require_real - base/variants: build_fixed_variant_plan / require_fixed_variant_support - scripts/play_interactive: build_play_args / compose_interactive_config / parse_interactive_cli - utils/checkpoint: TEST_LOG_ROOT_ENV / normalize_load_run - rl/runtime/settings: validated_positive_int - manager hooks __call_reset__ -> reset_scoped, _update_command_reset -> update_command_reset - visualization/playback: drop the unused private re-export alias Out of scope per issue: remaining EntityScene/EntityData private members, _SUPPORTED_SIM_BACKENDS, _resolve_backend_entity_contract, and module-internal privates (#2440/#2442). Adds tests/architecture/test_private_name_public_promotion.py to guard the retired names against reintroduction. Validation: - make check (ruff format/fix, mypy, pyright): all green - make test (pytest -m 'not slow'): 2680 passed, 60 skipped
…tocol-promotion # Conflicts: # src/unilab/training/run.py # src/unilab/utils/checkpoint.py
…s-stutter # Conflicts: # tests/rl/algos/test_sac_compile.py
Reset lifecycle hooks converge on the reset family: EventManager.apply_reset becomes dispatch_reset, CommandManager.compute_reset loses its dead dt and becomes refresh_reset alongside the term-side update_command_reset hook, and the dead CurriculumManager.compute_reset forwarder is removed (the env calls compute(reset_mask) directly). ResetOwner reset_transaction/reset_committed and Recorder record_pre_reset/record_post_reset stay: they name distinct transaction phases, not the same hook. Construction verbs in rl/runtime unify on build_* (make_device_timer, create_error_pipe, make_offpolicy_warmup_batch); host-side memory estimators gain the host_ infix and the available-memory getters share one word order. Play entrypoints name algorithms (play_rsl_rl -> play_ppo), the two Motrix viewer loops converge into visualization.playback.run_native_viewer_play_loop, and apply_appo_runtime_flags drops its dead cfg parameter. Serialization verbs unify on to_dict() for the CUDA MPS/process-sharing dataclasses, with the duplicated GPU-UUID canonicalizers extracted into the public canonicalize_gpu_uuid (display form stays GPU-<id>; the comparison token is case/dash-insensitive). Rename leftovers land: [dp_launcher] -> [launcher], reject_removed_inference_request_timeout -> validate_no_inference_request_timeout, off_policy_collector_fn -> offpolicy_collector_fn. rl/algos gain verbs: compute_vtrace_advantages, sample_biased_replay_indices, build_builtin/custom_actor_semantics, SACCritic.expected_value. Small items: update_mask -> update_masked, support_sim_backend -> supports_sim_backend, OnPlaybackFrameFn -> PlaybackFrameCallback, the CommandType error message now says CommandTerm, and recorder docstrings reference reset_mask. Validation: make check (ruff/mypy/pyright clean), make test (2678 passed, 60 skipped), docs check (20 passed), benchmark smoke (34/34 + 35/35). test_train_scripts.py slow lane shows the same 5 pre-existing local environment failures as the baseline.
…cle-consistency refactor!: unify verbs and lifecycle hook naming (#2443)
…#2444) - unisim-core 1.9.0 -> 2.0.0 in pyproject.toml and pyproject.rocm.toml; regenerate uv.lock and uv.rocm.lock (dual-track). - Adapt UniLab call sites to the unisim 2.0.0 naming: PackedResetTransaction, MocapPoseBinding/RootStateLayout/SensorView/PlayRenderPlan, bind_* cold-path verbs (bind_packed_reset/bind_host_bridge_io/bind_height_scanner/bind_renderer), get_tensor_execution(), torch_device_matches/validate_torch_device, get_default_geom_sizes(), unisim.backend.playback and motrix.camera modules, prefix-free adapter helpers. - Update en/zh_CN docs and tests to the new names; no aliases kept. - Record the #2434 API naming rules in AGENTS.md (decision D1).
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Roadmap #2434 收尾：API 命名规范化 + unisim-core 2.0.0 集成
Closes #2434.
交付内容
API 命名审计（8 通道并行只读审计）发现的问题已全部落地，共 7 个子 PR 合入本集成分支：
skip_scene_reset、reset_root_state_uniform_fused、PlaybackConfig）+ 过期文档env_origins、commit_tensor、ManagerRng等）dof_armature）managers/types.py、read_plan、reset_scoped等）resolution.py、objectives.py、EnvConfigAdapter等）reset(mask)一族、build_*、to_dict()）本分支在子 PR 之上的增量提交（42cb92d0）：
pyproject.toml/pyproject.rocm.toml：unisim-core==1.9.0→==2.0.0；uv.lock与uv.rocm.lock同步重新生成PackedResetTransaction、MocapPoseBinding/RootStateLayout/SensorView/PlayRenderPlan、bind_*冷路径动词（bind_packed_reset/bind_host_bridge_io/bind_height_scanner/bind_renderer）、get_tensor_execution()、torch_device_matches/validate_torch_device、get_default_geom_sizes()、unisim.backend.playback与unisim.backend.motrix.camera模块迁移、去引擎前缀的适配器函数AGENTS.md新增 "API naming rules" 一节（[Roadmap] API 命名规范化：清理迁移期残留限定词、平行 API 与私有协议泄漏 #2434 决策 D1，共 6 条）影响面
refactor!/chore!）：全部按 [Roadmap] API 命名规范化：清理迁移期残留限定词、平行 API 与私有协议泄漏 #2434 决策一次性切齐，不留别名、不留兼容回退；owner YAML 已随子 PR 同步验证（最终 head 42cb92d 本地执行）
make check：ruff + mypy + pyright 全过make test：2678 passed, 60 skipped, 361 deselected (slow)make test-all（check + test-cov + benchmark smoke）：exit 0；benchmark 冒烟 module-mode 34/34、script-mode 35/35uv run pytest tests/scripts/test_check_docs.py -q：20 passed备注