Capability Gaps

A living table of backend capabilities that are surfaced through SimBackend and the current backend implementations. Update this page when a capability is added to or removed from the backend contract.

Capability

MuJoCo

Motrix

Notes

supports_physics_state_playback

Yes

No

Reported by get_play_capabilities().

supports_native_interactive_renderer

No

Yes

Reported by get_play_capabilities().

supports_native_video_capture

No

Yes

Reported by get_play_capabilities().

create_hfield_scanner(...)

Yes

Yes

Backend-owned height-field scanner for rough-terrain observations.

apply_interval_randomization(...)

Yes

Yes

Supported fields still depend on each backend’s get_dr_capabilities().

Position-actuator gain DR

Yes

Conditional

Motrix reports support from runtime capability detection.

Geom-friction DR

Yes

Conditional

Motrix reports support from runtime capability detection.

Use src/unilab/base/backend/base.py as the contract source and backend tests under tests/base/ as evidence for support claims.

How to update this page

When you add or remove a capability:

  1. Update the table above.

  2. If the change is a new contract, add or update the relevant ADR under Architecture Decision Records (ADR).

  3. Add or update backend tests under tests/base/.

  4. Mention user-visible changes in the changelog (see Changelog).

See also