Copy tests/integration/test_checkpoint_bodies_gpu.py byte-for-byte from 34b30c434f. Base c95a7baae4. No production or dependency changes. GPU execution is deferred to the assigned executor.
Integrate reviewed test changes from 7c1517de819741907fb945ea0ab7864734fa3856 and 340ba4e1dc6386581839c0b28c8fe8a1f4aeb70b unchanged. Document bounded 2D implementation, evidence and open gates; production source and historical manifests are unchanged.
- Replace split zero_force_segment / zero_sensor_segment with unified
zero_obs_async() — a single memset covers all three obs segments
(force, torque, sensor), resetting the step accumulator.
- Add _obs_accum_steps counter so read_*(normalize=True) returns the
physically meaningful per-step average for all telemetry fields.
- Sensor now always applies area-normalisation internally; the normalize
parameter only controls the additional time-normalisation step.
- run() gains zero_obs=True parameter (default) to control reset-on-step.
- 7 new integration tests covering accumulation, zeroing, and normalise.
- Fix bug in test_sensor_accuracy.py (undefined loop variable i).
- Bump version to 0.4.0 for the API change.
Co-authored-by: Cursor <cursoragent@cursor.com>
- Add runtime body topology sync (add_body/remove_body + sync_bodies)
with recompile, DDF patch (feq + BFS inward fill), and commit.
- Unify action/obs flow: set_body/set_force are now host-only;
run() auto-uploads action and downloads obs via CUDA stream.
- Add read_body(id) -> BodyTelemetry and read_bodies() for DRL loops.
- Add FRC_REGION flag (0x0800) for force_region cells.
- Extract equilibrium helpers (lbm/equilibrium.py) and DDF patch module
(body/ddf_patch.py).
- Merge recompile / _runtime_recompile into single _recompile().
- Add n_objects to checkpoint; validate on load.
- Add test suite: 40 unit + 19 integration tests (59 total).
- Add conftest.py and docs/tests_overview.md for test documentation.
- Update README.md and CONFIG.md for new API.
Co-authored-by: Cursor <cursoragent@cursor.com>
Codex
TRON