Engines and Runtime Support

Physics solvers, support tiers, and runtime environments supported by UpstreamDrift

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	Maturity	Operational Notes
drake	drake	Extended	Unspecified	None
mujoco	mujoco	Supported	Unspecified	None
myosuite	myosuite	Experimental	Unspecified	None
opensim	opensim	Experimental	Unspecified	None
pinocchio	pinocchio	Extended	Unspecified	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).