fix(ray): finish the uni_ray to uniray caster rename

src/unilab/envs/mdp/ray_observation.py

@@ -235,7 +235,7 @@ class RayPatternCfg:
     attachment_body_name: str | None = None
     attachment_site_name: str | None = None
     alignment: RayAlignment = "body"
-    caster: str = "uni_ray"
+    caster: str = "uniray"
     sensor_offset: Sequence[float] = (0.0, 0.0, 0.0)
     min_distance: float = 0.0
     include_normal: bool = False

src/unilab/utils/sim2sim.py

@@ -129,6 +129,32 @@ def _strip_visualization_only_fields(value: Any) -> Any:
     return stripped
 
 
+# The UniSim ray-caster plugin identity was renamed ``uni_ray`` → ``uniray``
+# (uniray 0.1.1 / unisim-core 2.2+). The rename changes no ray numerics and no
+# policy I/O, so contract comparisons treat the two spellings as the same
+# caster instead of rejecting every checkpoint trained before the rename.
+CASTER_VALUE_ALIASES: dict[str, str] = {"uni_ray": "uniray"}
+
+
+def _normalize_caster_aliases(value: Any) -> Any:
+    """Recursively canonicalize renamed caster identity strings."""
+    if OmegaConf.is_config(value):
+        value = OmegaConf.to_container(value, resolve=True)
+    if isinstance(value, dict):
+        return {
+            str(key): (
+                CASTER_VALUE_ALIASES.get(child, child)
+                if key == "caster" and isinstance(child, str)
+                else _normalize_caster_aliases(child)
+            )
+            for key, child in value.items()
+        }
+    if isinstance(value, (list, tuple)):
+        normalized = [_normalize_caster_aliases(child) for child in value]
+        return tuple(normalized) if isinstance(value, tuple) else normalized
+    return value
+
+
 def _values_equal(a: Any, b: Any) -> bool:
     return bool(_normalize(a) == _normalize(b))
 
@@ -196,7 +222,9 @@ def resolve_sim2sim_config(
     DENYLIST field differs, including asymmetric presence for
     :data:`ENV_STRUCTURAL_DENYLIST` paths. Playback-visualization-only
     action fields (:data:`VISUALIZATION_ONLY_ACTION_FIELDS`) are exempt from
-    the ``env.actions`` comparison. A source run whose contract snapshot
+    the ``env.actions`` comparison, and renamed ray-caster identities
+    (:data:`CASTER_VALUE_ALIASES`) are canonicalized on both sides of every
+    comparison. A source run whose contract snapshot
     is missing, malformed, or uses keys outside the current schema fails closed
     with the same error regardless of ``strict``.
     """
@@ -227,6 +255,8 @@ def resolve_sim2sim_config(
         if path == "env.actions":
             source_value = _strip_visualization_only_fields(source_value)
             target_value = _strip_visualization_only_fields(target_value)
+        source_value = _normalize_caster_aliases(source_value)
+        target_value = _normalize_caster_aliases(target_value)
         if _values_equal(source_value, target_value):
             continue
         line = _diff_line(path, source_value, target_value)

tests/envs/mdp/test_ray_observation.py

@@ -336,15 +336,15 @@ def test_ray_pattern_configs_validate_geometry_values() -> None:
         )
 
 
-def test_ray_scan_binds_and_traces_without_importing_uni_ray(monkeypatch) -> None:
+def test_ray_scan_binds_and_traces_without_importing_uniray_internals(monkeypatch) -> None:
     class _Blocker:
         def find_module(self, fullname, path=None):
-            if fullname == "uni_ray" or fullname.startswith("uni_ray."):
+            if fullname in {"uni_ray", "uniray"} or fullname.startswith(("uni_ray.", "uniray.")):
                 return self
             return None
 
         def load_module(self, fullname):
-            raise AssertionError(f"uni_ray was imported: {fullname}")
+            raise AssertionError(f"ray caster package was imported: {fullname}")
 
     sys.meta_path.insert(0, _Blocker())
     try:
@@ -835,7 +835,7 @@ def test_ray_scan_uses_only_public_backend_and_factory_boundaries(monkeypatch) -
     collision = env.backend.get_ray_collision_description()
     assert collision.scene is env.backend.scene
     assert collision is env.backend.collision
-    assert term.ray_pattern.caster == "uni_ray"
+    assert term.ray_pattern.caster == "uniray"
     source = (_REPO_ROOT / "src/unilab/envs/mdp/ray_observation.py").read_text(encoding="utf-8")
     for banned in (
         "import uni_ray",

tests/envs/test_manager_based_rl_env.py

@@ -1748,10 +1748,10 @@ def test_mujoco_host_bridge_packed_reset_lifecycle(
 def test_mujoco_tensor_ray_observation_uses_public_rich_query_contract(
     tmp_path: Path,
 ) -> None:
-    """Exercise the real MuJoCo/UniSim/uni_ray perception path end to end."""
+    """Exercise the real MuJoCo/UniSim/uniray perception path end to end."""
 
-    pytest.importorskip("uni_ray", reason="local uni_ray is required")
-    pytest.importorskip("warp", reason="warp-lang is required by uni_ray")
+    pytest.importorskip("uniray", reason="local uniray is required")
+    pytest.importorskip("warp", reason="warp-lang is required by uniray")
 
     def build(pattern: mdp.RayPatternCfg):
         model = tmp_path / "ray-rich-query.xml"

tests/training/test_sim2sim_resolver.py

@@ -231,6 +231,54 @@ def test_visualization_only_fields_do_not_mask_policy_mismatches(tmp_path):
         resolve_sim2sim_config(tmp_path, target)
 
 
+def test_renamed_ray_caster_identity_is_canonicalized(tmp_path):
+    # uniray 0.1.1 renamed the plugin identity uni_ray -> uniray without
+    # changing ray numerics or policy I/O; checkpoints trained before the
+    # rename must keep playing against confs that use the new spelling.
+    source = _manager_cfg()
+    OmegaConf.update(
+        source,
+        "env.observations.policy.terms.forward_scan.params.ray_pattern.caster",
+        "uni_ray",
+        merge=False,
+    )
+    _write_sidecar(tmp_path, extract_contract_snapshot(source))
+
+    target = _manager_cfg()
+    OmegaConf.update(
+        target,
+        "env.observations.policy.terms.forward_scan.params.ray_pattern.caster",
+        "uniray",
+        merge=False,
+    )
+
+    assert resolve_sim2sim_config(tmp_path, target) is target
+
+
+def test_ray_caster_change_beyond_the_alias_still_fails_closed(tmp_path):
+    # Only the documented rename is exempt; switching to a different caster
+    # remains a policy-defining mismatch.
+    source = _manager_cfg()
+    OmegaConf.update(
+        source,
+        "env.observations.policy.terms.forward_scan.params.ray_pattern.caster",
+        "uni_ray",
+        merge=False,
+    )
+    _write_sidecar(tmp_path, extract_contract_snapshot(source))
+
+    target = _manager_cfg()
+    OmegaConf.update(
+        target,
+        "env.observations.policy.terms.forward_scan.params.ray_pattern.caster",
+        "fake",
+        merge=False,
+    )
+
+    with pytest.raises(CrossBackendIncompatibleError, match="env\\.observations"):
+        resolve_sim2sim_config(tmp_path, target)
+
+
 def test_denylist_mismatch_raises_with_field_in_message(tmp_path):
     _write_sidecar(tmp_path, extract_contract_snapshot(_mujoco_cfg()))
     target = _mujoco_cfg()