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feat: add Drake backend via DrakeUni #629

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feat: add Drake backend via DrakeUni #629

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e684919
feat: add Drake Go1 replay backend
Langford-H Jun 13, 2026
3852f56
feat: parse Drake replay metadata from model files
Langford-H Jun 13, 2026
3187777
feat: add DrakeUni Go1 training backend
Langford-H Jun 13, 2026
acbafbd
build: depend on external DrakeUni batch pool
Langford-H Jun 13, 2026
51c43c6
refactor: collapse Drake adapter into backend
Langford-H Jun 13, 2026
2c412c8
feat: add DrakeUni batch backend
Langford-H Jun 14, 2026
e952007
refactor: refine Drake backend around DrakeUni contract
Langford-H Jun 15, 2026
c2870c8
feat: enable Go2 Drake joystick training
Langford-H Jun 16, 2026
4aa0a02
chore: remove OMX workflow artifacts
Langford-H Jun 16, 2026
53f1329
chore: remove local planning notes
Langford-H Jun 16, 2026
8b5956a
refactor: improve Drake backend reviewability
Langford-H Jun 16, 2026
f9ead38
refactor: move Drake sensor views into UniLab backend
Langford-H Jun 17, 2026
a1f3aa9
feat: consume Drake sensor data from batch step outputs
Langford-H Jun 17, 2026
6cff679
refactor: finalize generic Drake backend boundary
Langford-H Jun 17, 2026
ac94dff
refactor: align Drake backend with generic DrakeUni contract
Langford-H Jun 17, 2026
784c1ef
chore: align Drake backend adapter boundary
Langford-H Jun 19, 2026
209d0ab
feat: add Go2W Drake PPO smoke config
Langford-H Jun 19, 2026
e2acf75
feat: add Go2 footstand Drake PPO smoke config
Langford-H Jun 19, 2026
f95d88e
feat: add Stewart balance Drake PPO smoke config
Langford-H Jun 19, 2026
b321869
feat: add Go2 Drake SAC smoke configs
Langford-H Jun 19, 2026
6484a9f
feat: add Stewart SAC comparison configs
Langford-H Jun 19, 2026
f02ad01
chore: rename Stewart ground texture
Langford-H Jun 19, 2026
fbe0f12
test: update Drake batch pool contract coverage
Langford-H Jun 19, 2026
2c96cc1
feat: extend Drake backend model indexing
Langford-H Jun 21, 2026
9f9af2a
feat: register additional Drake task envs
Langford-H Jun 21, 2026
cfad83a
perf: add Drake backend benchmark harness
Langford-H Jun 21, 2026
eab9710
test: add Drake training smoke coverage
Langford-H Jun 21, 2026
4778124
perf: limit Drake benchmark defaults
Langford-H Jun 21, 2026
7919949
test: align Drake branch with CI checks
Langford-H Jun 21, 2026
67b57fc
test: gate DrakeUni tests without runtime
Langford-H Jun 21, 2026
a4a65ac
chore: remove legacy Go1 Drake assets
Langford-H Jun 22, 2026
4a8ab74
chore: restore Stewart ground asset name
Langford-H Jun 22, 2026
a45a0c0
test: gate missing DrakeUni diagnostic strictly
Langford-H Jun 22, 2026
db18869
Update DrakeUni sibling repo path
Langford-H Jun 23, 2026
3187c97
test: relax async collector report timeout
Langford-H Jun 24, 2026
ea0524c
chore: drop MuJoCo comparison config from Drake PR
Langford-H Jun 24, 2026
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6 changes: 6 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -96,3 +96,9 @@ src/unilab/assets/checkpoints/**/*.onnx

# Backend temp XML emitted next to robot.xml (motrix/mujoco scene materialization)
src/unilab/assets/robots/**/tmp*.xml

# Optional local Drake native extension build output
src/unilab/base/backend/drake/native/*.so

# Local OMX workflow state
.omx/
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