chore: clarify platform-specific torch installation defaults

CONTRIBUTING.md

@@ -6,8 +6,8 @@ Languages: English | [简体中文](docs/zh_CN/CONTRIBUTING.md) | [日本語](do
 
 1. Fork and clone the repository.
 2. Install dependencies for your platform:
-   - macOS (MPS): `uv sync`
-   - Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8): `uv sync --extra cu124`
+   - macOS (MPS, installs PyPI torch wheels): `uv sync`
+   - Linux default (installs PyTorch cu128 wheels; requires an NVIDIA GPU/driver supported by current PyTorch cu128 wheels): `uv sync`
    - When you need Motrix, append `--extra motrix`
 3. Create a branch such as `git checkout -b docs/improve-readme` or `git checkout -b fix/backend-bug`.
 

Makefile

@@ -17,15 +17,15 @@ check: format type
 
 .PHONY: test
 test:
-	uv run pytest -m "not slow"
+	uv run pytest -m "not slow and not veryslow"
 
 .PHONY: test-cov
 test-cov:
-	uv run pytest -m "not slow" --cov=unilab --cov-report=term-missing
+	uv run pytest -m "not slow and not veryslow" --cov=unilab --cov-report=term-missing
 
 .PHONY: test-fast
 test-fast:
-	uv run pytest -m "not slow"
+	uv run pytest -m "not slow and not veryslow"
 
 .PHONY: test-slow
 test-slow:

README.md

@@ -29,11 +29,12 @@ git clone https://github.com/unilabsim/UniLab.git
 cd UniLab
 
 # 2. Install dependencies
-# macOS (MPS)
+# macOS (MPS, installs PyPI torch wheels)
 uv sync
 
-# Linux (choose one CUDA extra such as cu124)
-uv sync --extra cu124
+# Linux (default: installs PyTorch cu128 wheels)
+# Requires an NVIDIA GPU and driver stack supported by current PyTorch cu128 wheels
+uv sync
 
 # Optional: Motrix backend
 uv sync --extra motrix

docs/en/01-getting-started.md

@@ -28,18 +28,15 @@ brew install cmake  # macOS
 ### Sync Dependencies
 
 ```bash
-# macOS (MPS)
+# macOS (MPS, installs PyPI torch wheels)
 uv sync
 
-# Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8)
-uv sync --extra cu118
-uv sync --extra cu124
-uv sync --extra cu126
-uv sync --extra cu128
+# Linux default (installs PyTorch cu128 wheels)
+# Requires an NVIDIA GPU and driver stack supported by current PyTorch cu128 wheels
+uv sync
 
 # Optional: Motrix backend
 uv sync --extra motrix
-uv sync --extra cu124 --extra motrix
 ```
 
 ## Mainland China Mirror

docs/ja/01-getting-started.md

@@ -28,18 +28,15 @@ brew install cmake  # macOS
 ### 依存関係を同期
 
 ```bash
-# macOS (MPS)
+# macOS (MPS, PyPI の torch wheel をデフォルトで導入)
 uv sync
 
-# Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8)
-uv sync --extra cu118
-uv sync --extra cu124
-uv sync --extra cu126
-uv sync --extra cu128
+# Linux デフォルト (PyTorch の cu128 wheel を導入)
+# 現行の PyTorch cu128 wheel がサポートする NVIDIA GPU / driver stack が必要
+uv sync
 
 # オプション: Motrix backend
 uv sync --extra motrix
-uv sync --extra cu124 --extra motrix
 ```
 
 ## 中国本土向けミラー

docs/ja/CONTRIBUTING.md

@@ -6,8 +6,8 @@
 
 1. リポジトリを fork して clone します。
 2. 利用するプラットフォームに応じて依存関係を入れます:
-   - macOS (MPS): `uv sync`
-   - Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8): `uv sync --extra cu124`
+   - macOS (MPS, PyPI の torch wheel を導入): `uv sync`
+   - Linux デフォルト (PyTorch の cu128 wheel を導入。現行の PyTorch cu128 wheel がサポートする NVIDIA GPU / driver stack が必要): `uv sync`
    - Motrix が必要な場合は `--extra motrix` を追加します
 3. `git checkout -b docs/improve-readme` や `git checkout -b fix/backend-bug` のように branch を切ります。
 

docs/ja/README.md

@@ -29,11 +29,12 @@ git clone https://github.com/unilabsim/UniLab.git
 cd UniLab
 
 # 2. 依存関係をインストール
-# macOS (MPS)
+# macOS (MPS, PyPI の torch wheel をデフォルトで導入)
 uv sync
 
-# Linux (CUDA extra を 1 つ選択。例: cu124)
-uv sync --extra cu124
+# Linux (デフォルト: PyTorch の cu128 wheel を導入)
+# 現行の PyTorch cu128 wheel がサポートする NVIDIA GPU / driver stack が必要
+uv sync
 
 # オプション: Motrix バックエンド
 uv sync --extra motrix

docs/ko/01-getting-started.md

@@ -28,18 +28,15 @@ brew install cmake  # macOS
 ### 의존성 동기화
 
 ```bash
-# macOS (MPS)
+# macOS (MPS, PyPI torch wheel 기본 설치)
 uv sync
 
-# Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8)
-uv sync --extra cu118
-uv sync --extra cu124
-uv sync --extra cu126
-uv sync --extra cu128
+# Linux 기본값 (PyTorch cu128 wheel 설치)
+# 현재 PyTorch cu128 wheel 이 지원하는 NVIDIA GPU 및 드라이버 스택이 필요함
+uv sync
 
 # 선택 사항: Motrix 백엔드
 uv sync --extra motrix
-uv sync --extra cu124 --extra motrix
 ```
 
 ## 중국 본토 미러

docs/ko/CONTRIBUTING.md

@@ -6,8 +6,8 @@
 
 1. 저장소를 fork한 뒤 clone합니다.
 2. 사용하는 플랫폼에 맞게 의존성을 설치합니다:
-   - macOS (MPS): `uv sync`
-   - Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8): `uv sync --extra cu124`
+   - macOS (MPS, PyPI torch wheel 설치): `uv sync`
+   - Linux 기본값 (PyTorch cu128 wheel 설치. 현재 PyTorch cu128 wheel 이 지원하는 NVIDIA GPU/드라이버가 필요): `uv sync`
    - Motrix가 필요하면 `--extra motrix`를 추가합니다
 3. `git checkout -b docs/improve-readme` 또는 `git checkout -b fix/backend-bug` 같은 branch를 만듭니다.
 

docs/ko/README.md

@@ -29,11 +29,12 @@ git clone https://github.com/unilabsim/UniLab.git
 cd UniLab
 
 # 2. 의존성 설치
-# macOS (MPS)
+# macOS (MPS, PyPI torch wheel 기본 설치)
 uv sync
 
-# Linux (예: cu124 같은 CUDA extra 하나 선택)
-uv sync --extra cu124
+# Linux (기본값: PyTorch cu128 wheel 설치)
+# 현재 PyTorch cu128 wheel 이 지원하는 NVIDIA GPU 및 드라이버 스택이 필요함
+uv sync
 
 # 선택 사항: Motrix 백엔드
 uv sync --extra motrix

docs/zh_CN/01-getting-started.md

@@ -28,18 +28,15 @@ brew install cmake  # macOS
 ### 同步依赖
 
 ```bash
-# macOS (MPS)
+# macOS（MPS，默认安装 PyPI 的 torch wheel）
 uv sync
 
-# Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8)
-uv sync --extra cu118
-uv sync --extra cu124
-uv sync --extra cu126
-uv sync --extra cu128
+# Linux 默认（安装 PyTorch 官方 cu128 wheel）
+# 需要当前 PyTorch cu128 wheel 所支持的 NVIDIA 显卡与驱动栈
+uv sync
 
 # 可选: Motrix 后端
 uv sync --extra motrix
-uv sync --extra cu124 --extra motrix
 ```
 
 ## 中国大陆镜像

docs/zh_CN/CONTRIBUTING.md

@@ -6,8 +6,8 @@
 
 1. Fork 并克隆仓库。
 2. 按平台安装依赖:
-   - macOS (MPS): `uv sync`
-   - Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8): `uv sync --extra cu124`
+   - macOS（MPS，安装 PyPI 的 torch wheel）: `uv sync`
+   - Linux 默认（安装 PyTorch 官方 cu128 wheel；需要当前 PyTorch cu128 wheel 所支持的 NVIDIA 显卡与驱动栈）: `uv sync`
    - 需要 Motrix 时，在命令后追加 `--extra motrix`
 3. 创建分支，例如 `git checkout -b docs/improve-readme` 或 `git checkout -b fix/backend-bug`。
 

docs/zh_CN/README.md

@@ -29,11 +29,12 @@ git clone https://github.com/unilabsim/UniLab.git
 cd UniLab
 
 # 2. 安装依赖
-# macOS (MPS)
+# macOS（MPS，默认安装 PyPI 的 torch wheel）
 uv sync
 
-# Linux (任选一个 CUDA extra，例如 cu124)
-uv sync --extra cu124
+# Linux 默认（安装 PyTorch 官方 cu128 wheel）
+# 需要当前 PyTorch cu128 wheel 所支持的 NVIDIA 显卡与驱动栈
+uv sync
 
 # 可选: Motrix 后端
 uv sync --extra motrix

pyproject.toml

@@ -1,5 +1,5 @@
 [build-system]
-requires = ["uv_build"]
+requires = ["uv_build>=0.11.3,<0.12"]
 build-backend = "uv_build"
 
 [project]
@@ -11,6 +11,7 @@ requires-python = ">=3.10,<3.14"
 dependencies = [
     "numpy",
     "torch==2.7.0",
+    "torchvision",
     "mujoco-uni==3.6.0.post2",
     "gymnasium",
     "imageio",
@@ -32,10 +33,6 @@ dependencies = [
 ]
 
 [project.optional-dependencies]
-cu118 = []
-cu124 = []
-cu126 = []
-cu128 = []
 motrix = ["motrixsim==0.7.0"]
 
 [dependency-groups]
@@ -46,28 +43,19 @@ name = "test-pypi"
 url = "https://test.pypi.org/simple/"
 explicit = true
 
-[[tool.uv.index]]
-name = "pytorch-cu118"
-url = "https://download.pytorch.org/whl/cu118"
-explicit = true
-
-[[tool.uv.index]]
-name = "pytorch-cu124"
-url = "https://download.pytorch.org/whl/cu124"
-explicit = true
-
-[[tool.uv.index]]
-name = "pytorch-cu126"
-url = "https://download.pytorch.org/whl/cu126"
-explicit = true
-
 [[tool.uv.index]]
 name = "pytorch-cu128"
 url = "https://download.pytorch.org/whl/cu128"
 explicit = true
 
 [tool.uv.sources]
 mujoco-uni = { index = "test-pypi" }
+torch = [
+    { index = "pytorch-cu128", marker = "sys_platform=='linux'" },
+]
+torchvision = [
+    { index = "pytorch-cu128", marker = "sys_platform=='linux'" },
+]
 
 [tool.uv]
 required-environments = [

tests/conftest.py

@@ -170,8 +170,6 @@ def default_go2_reward_config():
         },
         "tracking_sigma": 0.25,
         "base_height_target": 0.3,
-        "target_foot_height": 0.08,
-        "foot_clearance_sigma": 0.02,
     }