[hhhappyshow]

Summary

uniray 0.1.1 renamed the plugin import namespace and UniSim factory identity from uni_ray to uniray; unisim-core 2.2+ only declares the uniray spec. Three leftovers still referenced the old spelling:

1. RayPatternCfg.caster defaulted to the dead name — any task relying on the default failed caster construction against the pinned unisim-core.
2. Tests gated on the old namespace — pytest.importorskip("uni_ray") skips the end-to-end MuJoCo ray test even when uniray 0.1.1 is installed; one test asserted the stale default.
3. sim2sim contract compared caster verbatim — every checkpoint trained before the rename fails the strict env.observations DENYLIST comparison on play, although the rename changes no ray numerics and no policy I/O.

Fix: rename the default to uniray, update tests to the uniray namespace, and canonicalize caster identity values through a new CASTER_VALUE_ALIASES = {"uni_ray": "uniray"} on both sides of every contract comparison. Only the documented rename is exempt — switching to a different caster (e.g. fake) still fails closed.

Discovered by the downstream perceptive navigation port: trained checkpoints snapshot caster: uni_ray and could not play against the renamed conf without this normalization.

Linked Work

• Issue: none (found through downstream integration testing)
• Base branch: main

Validation

• Focused tests passed on the final local head
• make test-all: tracked with remote CI

Commands actually run:

uv run pytest tests/training/test_sim2sim_resolver.py tests/envs/mdp/test_ray_observation.py -q   # 79 passed
make check                                                                                          # ruff + mypy + pyright clean

Remote CI route:

• Base main: will run on this PR's head.

Impact

• Backend impact: mujoco (ray perception path only)
• Platform impact: unknown
• Training effect expected: no (identity rename follow-up; numerics unchanged)

Artifacts

• W&B: none / benchmark result: none / video: none / checkpoint: none

Checklist

• Added or updated tests where needed (alias passes; different-caster mismatch still rejected)
• Updated docs if behavior or workflow changed (sim2sim docstring lists the canonicalization)
• Linked the driving issue (none exists)
• Noted any follow-up work explicitly (downstream perceptive port unblocked for playing pre-rename checkpoints)

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