feat: add Newton CUDA graph owner knob

docs/sphinx/source/en/2-user_guide/3-backends/7-newton.md

@@ -103,6 +103,10 @@ as `env.*` fields in the owner YAML:
   raises an explicit capacity error when a bound is too small; it never
   silently truncates constraints.
 - `newton_capacity_check_steps`: how often capacity is checked (default 1).
+- `newton_use_cuda_graph`: CUDA graph replay (default `true`). A graph-capable
+  UniSim runtime captures both Newton state parities after cold capacity
+  calibration; ineligible CUDA drivers or capture failures warn and fall back
+  to eager execution.
 
 ## Playback and Rendering
 

docs/sphinx/source/zh_CN/2-user_guide/3-backends/7-newton.md

@@ -96,6 +96,9 @@ Newton/MuJoCo-Warp 3.11 要求显式的设备与存储容量，对应 owner YAML
   320 / 512）。适配器在冷路径标定 solver 计数，容量不足时抛出明确的
   capacity 错误，绝不静默截断约束。
 - `newton_capacity_check_steps`：容量检查步数（默认 1）。
+- `newton_use_cuda_graph`：CUDA graph replay（默认 `true`）。支持 graph 的
+  UniSim runtime 会在冷路径容量校准后捕获两个 Newton state 奇偶；CUDA
+  驱动不满足条件或捕获失败时发出警告并回退 eager 执行。
 
 ## Playback 与渲染
 

pyproject.rocm.toml

@@ -25,8 +25,9 @@ dependencies = [
     "numpy",
     # Physics implementations are provided by the independently released
     # unisim-core package. Version 1.5.0 provides the M2 physical entity,
-    # immutable variant, layout and selected-reset contracts.
-    "unisim-core>=1.5.0",
+    # immutable variant, layout and selected-reset contracts; 1.6.0 adds
+    # Newton CUDA graph execution.
+    "unisim-core>=1.6.0",
     # RL algorithms and async runtimes live in the independently released
     # uni-rl package (distribution name ``unilab-rl``); see pyproject.toml.
     "unilab-rl==1.2.1",

pyproject.toml

@@ -41,9 +41,9 @@ dependencies = [
     # Physics implementations are provided by the independently released
     # unisim-core package. Version 1.5.0 provides the M2 physical entity,
     # immutable variant, layout and selected-reset contracts; 1.5.1 adds
-    # get_motion_body_ids on the newton/genesis adapters and fixes the
-    # subprocess motion-id offset (unilabsim/unisim#137).
-    "unisim-core>=1.5.1",
+    # get_motion_body_ids on the newton/genesis adapters; 1.6.0 adds Newton
+    # CUDA graph execution.
+    "unisim-core>=1.6.0",
     # RL algorithms and async runtimes (PPO/APPO/SAC/TD3 runners,
     # collectors, IPC, logging) live in the independently released uni-rl
     # package (distribution name ``unilab-rl``), consumed via the injected
@@ -171,7 +171,7 @@ viser = ["viser>=1.0.26", "trimesh>=3.21.7"]
 # required-environments; elsewhere the extra is empty and the CLI reports a
 # targeted runtime diagnostic.
 superdex = [
-    "unisim-core[superdex]>=1.5.1 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'",
+    "unisim-core[superdex]>=1.6.0 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'",
 ]
 
 [dependency-groups]

src/unilab/base/backend_factory.py

@@ -57,6 +57,7 @@ def env_backend_kwargs(cfg: "EnvCfg") -> dict[str, Any]:
     # its own device.
     if cfg.genesis_device_id is not None:
         result["genesis_device_id"] = cfg.genesis_device_id
+    result["newton_use_cuda_graph"] = cfg.newton_use_cuda_graph
     return result
 
 

src/unilab/base/base.py

@@ -72,6 +72,7 @@ class EnvCfg:
     newton_nconmax: Optional[int] = None
     newton_njmax: Optional[int] = None
     newton_capacity_check_steps: int = 1
+    newton_use_cuda_graph: bool = True
     # ``isaacgym`` runs physics in a Python 3.8 worker subprocess (Preview 4 is
     # EOL and incompatible with the main environment). ``None`` keeps the
     # backend defaults (device 0, generous handshake/step timeout).
@@ -180,6 +181,10 @@ def validate(self):
                 "newton_capacity_check_steps must be a positive integer, "
                 f"got {self.newton_capacity_check_steps!r}"
             )
+        if not isinstance(self.newton_use_cuda_graph, bool):
+            raise ValueError(
+                f"newton_use_cuda_graph must be bool, got {self.newton_use_cuda_graph!r}"
+            )
         if self.isaacgym_device_id is not None and (
             isinstance(self.isaacgym_device_id, bool)
             or not isinstance(self.isaacgym_device_id, int)

src/unilab/conf/flashsac/task/g1_motion_tracking/newton.yaml

@@ -2,8 +2,8 @@
 # FlashSAC Newton owner for G1 WBT. Newton's runtime is optional and shares
 # the MuJoCo 3.11 / MuJoCo-Warp 3.11 / Warp 1.16 line with the mujoco/mjwarp
 # extras; process device binding supplies the rank-local CUDA device when
-# ``newton_device`` is left unset. Requires unisim-core>=1.5.1 for the motion
-# body id capability (unilabsim/unisim#137). Native ViewerGL rendering
+# ``newton_device`` is left unset. Requires unisim-core>=1.6.0 for the motion
+# body id capability and CUDA graph execution. Native ViewerGL rendering
 # (offline record + interactive) is provided by the backend; playback inherits
 # auto mode.
 defaults:
@@ -24,3 +24,4 @@ env:
   newton_nconmax: 320
   newton_njmax: 512
   newton_capacity_check_steps: 1
+  newton_use_cuda_graph: true

src/unilab/conf/ppo/task/g1_walk_flat/newton.yaml

@@ -36,11 +36,11 @@ env:
   newton_nconmax: 320
   newton_njmax: 512
   newton_capacity_check_steps: 1
+  newton_use_cuda_graph: true
   events:
     # Newton currently rejects runtime PD gain randomization; keep the owner
     # fail-closed until that adapter capability is added.
     pd_gains: null
 
 play_profile:
   enabled: false
-

src/unilab/conf/sac/task/g1_walk_flat/newton.yaml

@@ -38,6 +38,7 @@ env:
   newton_nconmax: 320
   newton_njmax: 512
   newton_capacity_check_steps: 1
+  newton_use_cuda_graph: true
   render_spacing: 2.0
   events:
     # Newton currently rejects runtime PD gain randomization; keep the owner

tests/base/backend/test_newton_backend_options.py

@@ -0,0 +1,27 @@
+import pytest
+
+from unilab.base.backend_factory import env_backend_kwargs
+from unilab.base.base import EnvCfg
+
+
+def test_newton_cuda_graph_option_defaults_to_enabled() -> None:
+    cfg = EnvCfg()
+    cfg.validate()
+
+    assert cfg.newton_use_cuda_graph is True
+    assert env_backend_kwargs(cfg)["newton_use_cuda_graph"] is True
+
+
+def test_newton_cuda_graph_option_routes_to_backend_factory() -> None:
+    cfg = EnvCfg(newton_use_cuda_graph=False)
+    cfg.validate()
+
+    assert env_backend_kwargs(cfg)["newton_use_cuda_graph"] is False
+
+
+@pytest.mark.parametrize("value", [None, 1, "true"])
+def test_newton_cuda_graph_option_requires_bool(value: object) -> None:
+    cfg = EnvCfg(newton_use_cuda_graph=value)
+
+    with pytest.raises(ValueError, match="newton_use_cuda_graph must be bool"):
+        cfg.validate()

tests/base/test_isaacgym_fixed_variants.py

@@ -158,7 +158,10 @@ def test_public_layout_drift_fails_closed(
         ).replace(
             '<joint name="j2" type="hinge" range="-1.5 1.5"/>',
             '<joint name="j2" type="hinge" range="-1.5 1.5"/>'
-            '<joint name="extra" type="hinge" range="-1 1"/>',
+            '<body name="extra_link">'
+            '<joint name="extra" type="hinge" range="-1 1"/>'
+            '<geom name="extra_geom" type="box" size="0.1 0.1 0.1"/>'
+            "</body>",
         ),
         encoding="utf-8",
     )

tests/envs/locomotion/g1/test_g1_owner_contract.py

@@ -479,6 +479,7 @@ def test_g1_owner_materializes_complete_plain_manager_cfg(
         assert env_cfg.newton_nconmax == 320
         assert env_cfg.newton_njmax == 512
         assert env_cfg.newton_capacity_check_steps == 1
+        assert env_cfg.newton_use_cuda_graph is True
         # Native ViewerGL rendering (interactive viewer + offscreen record)
         # is supported; playback stays on the base config's auto mode.
         assert hydra_cfg.training.play_render_mode == "auto"

tests/scripts/test_train_scripts.py

@@ -2224,6 +2224,8 @@ def test_offpolicy_flashsac_g1_motion_tracking_task_composes(backend: str) -> No
     assert cfg.training.sim_backend == backend
     assert cfg.algo.num_envs == 2048
     assert cfg.algo.max_iterations == 25000
+    if backend == "newton":
+        assert cfg.env.newton_use_cuda_graph is True
 
 
 def test_offpolicy_rejects_algo_argument_mismatch():

uv.rocm.lock

@@ -3790,7 +3790,7 @@ requires-dist = [
     { name = "triton-rocm", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'", specifier = "==3.6.0", index = "https://download.pytorch.org/whl/rocm7.2" },
     { name = "typing-extensions" },
     { name = "unilab-rl", specifier = "==1.2.1" },
-    { name = "unisim-core", specifier = ">=1.5.0" },
+    { name = "unisim-core", specifier = ">=1.6.0" },
     { name = "viser", marker = "extra == 'viser'", specifier = ">=1.0.26" },
     { name = "wandb" },
 ]
@@ -3830,13 +3830,13 @@ wheels = [
 
 [[package]]
 name = "unisim-core"
-version = "1.5.0"
+version = "1.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
     { name = "numpy", version = "2.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/1c/d8/e142031c7aeb29653ba04b882f5f8df57a7fc5603a7bae682b08121e005f/unisim_core-1.5.0.tar.gz", hash = "sha256:4fd0f276af7f1905812f9189e11422889993423e00a331abdecaa00a8cdd118c", size = 354365, upload-time = "2026-09-17T04:39:54.318Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/df/d2/6802ddbfea15f27e165f8565faae39eeb6ab31a484384b64a3fc459f269a/unisim_core-1.6.0.tar.gz", hash = "sha256:72dbc11170e9516909a9ec81c353aad17222b52a0aa24f0fc63f5290aee3cf51", size = 363157, upload-time = "2026-09-17T10:25:30.036Z" }
 
 [[package]]
 name = "urllib3"