refactor: drop compat shims unreachable above the new dependency floor - #1596
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TATP-233 merged 1 commit intoSep 16, 2026
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With unisim-core>=1.4.2 and unilab-rl==1.2.1 as the floor, remove the Genesis legacy retry path, the Newton optional-kwarg pops, the SuperDex execution-mode omission trick, and the CLI SuperDex runtime guard; sync the replay-buffer placement benchmark manifest and reword the affected comments and Newton backend docs. Refs #1592
TATP-233
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Sep 16, 2026
* chore: remove obsolete dead code and stale references Delete zero-reference scripts, assets, and the unused monitoring utility left over from the Unitree downstream migration; port the drake batch-pool test fixture from go1 to go2; drop stale doc and config references to the removed modules. Refs #1590 * chore(deps): bump unisim-core to 1.4.2 and unilab-rl to 1.2.1 unisim-core 1.4.2 removed the upstream export_scene module, so drop the unilab-export-scene console script, its tests, and its docs. The Drake branch no longer filters MuJoCo root-body options (unilabsim/unisim#92); pop base_name/push_body_name at the owner boundary before constructing DrakeBackend. Refresh uv.lock and uv.rocm.lock. Refs #1591 * refactor: drop compat shims unreachable above the new dependency floor (#1596) With unisim-core>=1.4.2 and unilab-rl==1.2.1 as the floor, remove the Genesis legacy retry path, the Newton optional-kwarg pops, the SuperDex execution-mode omission trick, and the CLI SuperDex runtime guard; sync the replay-buffer placement benchmark manifest and reword the affected comments and Newton backend docs. Refs #1592
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Summary
Stacked on #1594. With
unisim-core>=1.4.2/unilab-rl==1.2.1as the dependency floor, remove compatibility shims that are now unreachable:genesis_device_idkeyword; the constructor is called directly.newton_device/newton_nconmax/newton_njmax/newton_capacity_check_stepsfor pre-Newton-adapter unisim-core releases; the shared factory now handles them.superdex_execution_modeis always forwarded (including the"batch"default) instead of being omitted for legacy releases; thesuperdexextra floor is raised tounisim-core[superdex]>=1.4.2(uv.lockrefreshed).Impact
No behavior change — the removed shims are unreachable at unisim-core>=1.4.2 / unilab-rl==1.2.1.
Validation
make test-allon this head: 1468 passed, 26 skipped (exit 0), benchmark smoke suite green (34/34 module-mode, 35/35 script-mode).Closes #1592