Engines and Runtime Support

models
Physics solvers, support tiers, and runtime environments supported by UpstreamDrift
NoteProvider Pin

Generated from the provider-published UpstreamDrift artifact upstreamdrift-companion-27b6eeadbbd970bebb8926a3c83aeaea1f6ee4da (manifest SHA-256 a1c9a799ecceb4e81f28c50755fb50ad28f390ed8db335b64ecb89028f910b06; attestation: verified: gh attestation verify (actions/attest-build-provenance); installed 2026-09-03). The provider marks this catalog draft: Engine capability claims require qualification evidence. Documentation and screenshot inventories require their governed provider slices. See the freshness dashboard.

Authority Boundary

[!NOTE] This establishes software support tiers and runtime execution boundaries. This does not establish that a physics engine has been validated on human data.

Runtime Compatibility Matrix

Runtime Dimension Specification Verification Command
Python Requirement >=3.11 python -V
Supported Minors 3.11, 3.12 python scripts/ci/verify_installation.py
Verification Entrypoint scripts/ci/verify_installation.py python -m scripts.companion_workflows execute --workflow-id installation-verification

Physics Engines & Support Tiers

Engine ID Engine Name Support Tier Operational Notes
drake Drake Extended None
mujoco MuJoCo Supported None
myosuite MyoSuite Experimental None
opensim OpenSim Experimental None
pinocchio Pinocchio Extended None

Support Tier Definitions

  • Supported (F0): Core stack (e.g. MuJoCo). Fully tested across operating systems.
  • Extended (F1): Extended stack (e.g. Drake, Pinocchio). Tested in simulation suites.
  • Experimental (F2): Research-grade experimental interfaces (e.g. OpenSim, MyoSuite).

Cross-Engine Mathematical Equivalency Tiers

  • Tier 1: Rigid-Body Dynamics [MuJoCo, Pinocchio, Drake]: Kinematic and forward-dynamics parity for articulated rigid link mechanisms.
  • Tier 2: Soft Contact & Impact Interval [MuJoCo, Putting Green, Simscape]: Compliant restitution, friction transition, and fail-closed impact-interval verification against the Simscape Multibody oracle.
  • Tier 3: Musculoskeletal Actuation [OpenSim, MyoSuite]: Hill-type muscle activation, tendon elasticity, and biological motor-unit control dynamics.

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Citation

BibTeX citation: Download .bib
@online{untitled,
  author = {},
  title = {Engines and {Runtime} {Support}},
  url = {https://affinedrift.com/models/programming/engines.html},
  langid = {en}
}
For attribution, please cite this work as:
“Engines and Runtime Support.” n.d. https://affinedrift.com/models/programming/engines.html.