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feat: add mjwarp G1 host adapter - #917

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TATP-233 merged 17 commits into
mainfrom
refactor/issue-902-mjwarp-squashed-delivery
Aug 6, 2026
Merged

feat: add mjwarp G1 host adapter#917
TATP-233 merged 17 commits into
mainfrom
refactor/issue-902-mjwarp-squashed-delivery

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@TATP-233

@TATP-233 TATP-233 commented Aug 5, 2026

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Summary

  • deliver the final refactor/issue-902-mjwarp-subtractive-integration tree as one commit based directly on main
  • retain the independent lazy-loaded mjwarp host adapter, G1WalkFlat PPO owner, maintainer-validated SAC owner, and finite offline record path
  • exclude the retired manager, typed batch/mutation, device-runtime, evidence-tooling, and benchmark-only intermediate paths from this PR's ancestry
  • leave feat/issue-705-manager-mjwarp and the existing integration branch unchanged

History equivalence

  • commits relative to main: 1
  • delivery tree: fce2ebd13bc0d77c5a0d701e8126b9962ec5720a
  • integration tree: fce2ebd13bc0d77c5a0d701e8126b9962ec5720a
  • newly reachable objects: 1 commit, 49 trees, 49 blobs
  • retired manager/typed/benchmark paths reachable from main..HEAD: none
  • incremental pack: 57,907 bytes thin, 426,503 bytes non-thin
  • feat/issue-705-manager-mjwarp remains at 7e0d1419a561e1817b7fe816b3567783fe7031f3

Validation

  • make test-all — passed on the final commit (1665 passed, 61 skipped, 280 deselected, 1 xfailed); benchmark import smoke passed
  • equivalent integration tree real-CUDA mjwarp suite — passed (11 passed)
  • equivalent integration tree focused owner/import/playback/support/isolation suite — passed (80 passed)

Closes #902
Closes #909

@TATP-233
feat: add mjwarp G1 host adapter
dcde581 
Deliver the subtractive integration result as one main-based commit. Keep the PPO and SAC G1 owners plus offline recording while excluding the retired manager and typed-runtime history.
@TATP-233 TATP-233 mentioned this pull request Aug 5, 2026
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@TATP-233
TATP-233 requested a review from caozx1110 as a code owner August 5, 2026 18:04
TATP-233 and others added 9 commits August 6, 2026 02:35
@TATP-233
feat: assemble G1 walk numba kernel from term plan
d975c09
@TATP-233
Merge pull request #927 from unilabsim/feat/issue-922-g1-auto-numba
b03da66 
feat: assemble G1 walk Numba kernel from term plan
@TATP-233
feat: assemble motion tracking numba plan
7045fae
@TATP-233
Merge pull request #928 from unilabsim/feat/issue-923-motion-auto-numba
71108ca 
feat: assemble motion tracking Numba plan
@TATP-233
Revert "Merge pull request #928 from unilabsim/feat/issue-923-motion-…
216805a 
…auto-numba"

This reverts commit 71108ca, reversing
changes made to b03da66.
@TATP-233
Revert "Merge pull request #927 from unilabsim/feat/issue-922-g1-auto…
a48ff5b 
…-numba"

This reverts commit b03da66, reversing
changes made to 6015cf3.
@TATP-233
Revert "Merge pull request #926 from unilabsim/feat/issue-921-motion-…
bcf2731 
…term-plan"

This reverts commit 6015cf3, reversing
changes made to 54031f2.
@TATP-233
Revert "Merge pull request #925 from unilabsim/feat/issue-920-g1-term…
1ae4f2d 
…-plan"

This reverts commit 54031f2, reversing
changes made to 59c8adb.
@TATP-233
Revert "Merge pull request #924 from unilabsim/feat/issue-919-structu…
43ae2a9 
…red-term-plan"

This reverts commit 59c8adb, reversing
changes made to b8ecb79.
@TATP-233
TATP-233 merged commit 01265d8 into main Aug 6, 2026
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Work: 收敛并验证 G1WalkFlat mjwarp host adapter Roadmap: 从 #705 分支减法收敛可合入的 mjwarp host adapter

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