test: UniSim 公共场景契约的消费兼容与操作 smoke

[TATP-233]

Parent roadmap：https://github.com/unilabsim/unisim/issues/154（A/E）。依赖 unilabsim/unisim#155 公共 MJCF normalization/layout 契约。Owner：UniLab SceneCfg/backend factory、Manager-Based entity/reset/control 消费层。Intended PR base：本仓 main；待 UniSim 公共契约冻结后开发，不从已结束的 M2 分支继续。

问题与证据

审计基线：UniLab 2fe53fba，UniSim 1.6.0。src/unilab/envs/manager_based_rl_env.py 的 _resolve_backend_entity_contract() 和构造路径按 cfg.scene.entity_assets 分支；只有该字段非空才从 backend 初始化 ctrl 并向 ResetStateTransaction 传入 get_scene_layout()。这是现有契约下的行为，不据此宣称当前存在 bug。UniSim 公共组合契约更新时，需要验证这些消费假设、默认控制与 reset 时序仍成立，按实际变化迁移。

src/unilab/base/backend_factory.py 负责调用资产 hub；公共归一后的 source 关系必须与该 owner 协调，不能让 env 热路径解析资产或绕过资产注册。下游不另建 MJCF composer。

交付与边界

• 核对 UniSim 冻结后的公共 profile/归一契约与现有 SceneCfg 消费假设，仅按必要的接口变化迁移；保留旧场景/native profile 兼容边界，不因 XML 文件组织方式增加消费分支。
• primary/entity selectors、默认 ctrl、default state、具名索引和 selected reset 事务保持契约一致；不访问 backend 私有模型或缓冲区。
• 在冷路径完成资产 hub 依赖准备与公共 normalization 的衔接；任务/Hydra、资产所有权与 Manager 调度仍留在 UniLab。
• 使用现有逻辑 selectors 与 Manager 接口做端到端 fixture：robot + passive object + table + mirror，验证构造、状态、默认控制、局部 reset、step、固定 variant 身份及完整场景 playback source。
• 非 round-robin N5/K2 [1,1,0,1,0] 至少在已支持的 MuJoCo 路径验收；IsaacSim round-robin profile 可先验证，任意 assignment 的 native 验收依赖 isaacsim: 任意 per-env 指派的 K 原型精确 spawner unilabsim/unisim#82，不把拒绝测试算支持。
• 公共控制程序若由 补齐 Isaac Sim adapter 的多实体操作场景支持 unilabsim/unisim#72 与 MJWarp Phase 2: device-resident pre-step control unilabsim/unisim#152 引入，记录独立消费接入范围；本项不自行设计 worker controller 或跨进程生命周期。

验收与迁移

以既有 tests/base/test_entity_scene_consumer.py、tests/envs/test_multi_entity_consumer.py 为基线，覆盖省略字段保持、未选实体/环境隔离、mirror 继承身份而不继承 pose，以及 public state/action 维度的兼容性。未支持组合构造期明确拒绝。

链接 ADR-0007、ADR-0006 及 UniSim 公共组合 ADR。若改变 policy-I/O 或 network-shape 字段，同步 sim2sim contract 和测试；本项不预先授权改变维度。

最终 head 跑 focused consumer/config/reset tests、make check、make test，创建/更新 PR 前跑 make test-all；main PR 等当前 head CI。涉及 docs 时遵循 docs/sphinx/AGENTS.md。双语迁移说明记录安装版本、入口行为及 unsupported 边界。真实 Isaac 证据单独记录，不以 mock 或训练曲线替代。native camera 仍由 unilabsim/unisim#133 独立跟踪。

[TATP-233]

Preparation branch: feat/issue-1609-unisim-portable-scene-consumer at d896442a7a40a616e42039597c5b082322ad7529 (based on clean remote main; no main branch checkout or commit).

Progress:

• The registered Manager-Based fixture can now explicitly combine a controlled robot, passive articulation object, static table, and collision-free mirror with N5/K2 assignment [1,1,0,1,0].
• The new MuJoCo consumer check covers pickleable factory construction, observation/action/passive-joint dimensions, selected object reset isolation, mirror pose independence, control restoration on selected reset, entity import-report scopes, selected playback identity/masses [2,2,1,2,1], full-scene playback bodies, and mirror collision masks.
• Existing IsaacSim behavior remains bounded to its supported rigid mirror: a multi-body passive articulation is not silently mirrored as a rigid entity. The combined passive+mirror check is therefore MuJoCo-only, matching this issue's “N5/K2 at least in MuJoCo” boundary.

Validation on the downstream branch with released unisim-core==1.6.0:

make check
# ruff format/check passed
# mypy: no issues in 128 source files
# pyright: 0 errors, 1 pre-existing warning
# focused test lint passed

uv run --no-sync pytest -q \
  tests/envs/test_multi_entity_consumer.py tests/base/test_entity_scene_consumer.py
# 11 passed, 3 skipped

The new portable-profile assertion intentionally skips on 1.6.0 because the released package does not yet contain unisim.scene_compiler.

Validation with the current UniSim integration checkout at 08c3cde229c9b932f6404ab96485de6401363d48 installed editable (explicit local-development profile):

UNILAB_LOCAL_UNISIM=/home/user/ws/unilabsim/unisim uv run --no-sync pytest -q \
  tests/envs/test_multi_entity_consumer.py::test_registry_factory_mujoco_consumes_portable_profile_operation_fixture
# 1 passed

UNILAB_LOCAL_UNISIM=/home/user/ws/unilabsim/unisim \
UNILAB_TEST_M2_ISAACSIM=1 uv run --no-sync pytest -q \
  tests/envs/test_multi_entity_consumer.py::test_native_isaacsim_same_manager_task
# 2 passed

The IsaacSim cases cover both supported N2 [0,1] profiles: passive articulation without a mirror and rigid object with a collision-free mirror.

Remaining release dependency: publish a UniSim version containing portable profile v1, raise UniLab's released unisim-core requirement and lock accordingly, remove the provisional skip, then run focused tests, make check, make test, and make test-all before the final PR. No dependency or lock change is claimed yet.

[TATP-233]

Final downstream acceptance is complete.

• PR: fix: consume released unisim portable scenes #1610
• Tested child head: 7c59c73966682a40103b8b17b57fb2f16fb15c5f
• Merge into UniLab main: a27bace3fc48009531b14dbbdb43a6ce07ccaa3a (parents 2fe53fba + 7c59c739)
• Released dependency: unisim-core==1.7.1
• Public sdist SHA-256: d9a26a8cbf239cc6ae1b3dde35bcb6b844efd71ac2b23c86037d644c18780338
• Locked SuperDex runtime: superdex-physics-uni==1.1.0, superdex-robotics-uni==1.1.0

Final-head validation:

env -u UNILAB_LOCAL_UNISIM uv run --no-sync pytest -q \
  tests/base/test_backend_pre_step_control.py \
  tests/base/test_motrix_backend_options.py \
  tests/base/test_genesis_backend.py \
  tests/base/test_isaacsim_backend.py \
  tests/training/test_training_helpers.py \
  tests/envs/test_multi_entity_consumer.py \
  tests/base/test_entity_scene_consumer.py \
  tests/scripts/test_check_docs.py
# 148 passed, 2 skipped

env -u UNILAB_LOCAL_UNISIM UNILAB_TEST_M2_ISAACSIM=1 \
  uv run --no-sync pytest -q \
  tests/envs/test_multi_entity_consumer.py::test_native_isaacsim_same_manager_task
# 2 passed

UV_NO_SYNC=1 make check
# passed

UV_NO_SYNC=1 make test
# 1491 passed, 28 skipped, 601 deselected

UV_NO_SYNC=1 make test-all
# 1491 passed, 28 skipped, 601 deselected
# benchmark module imports 34/34
# benchmark script imports 35/35

uv lock --check
# resolved 250 packages

git diff --check
# passed

Remote evidence at the exact final child head:

• CI: https://github.com/Motphys/UniLab/actions/runs/35426168732 — success
• Docs: https://github.com/Motphys/UniLab/actions/runs/35426168790 — success

The public-package IsaacSim acceptance used an NVIDIA GeForce RTX 4090, driver 595.84, IsaacSim 5.1.0.0, IsaacLab 0.47.2, the external Python 3.11 worker, and host unisim-core==1.7.1; UNILAB_LOCAL_UNISIM was removed. The MuJoCo fixture covers the controlled robot, passive articulation, static table, collision-free mirror, N5/K2 [1,1,0,1,0], selected reset isolation, control restoration, playback identity, and mirror collision masks. IsaacSim acceptance remains bounded to its supported profiles as documented; arbitrary native assignment and native camera behavior are not claimed.