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Drake simulations (no helper planned)
Generated by MHS/registry/build_registry.py on 2026-10-20T00:00:00Z from 6 registry records and their task cards. A plan, not a conformance claim.
- bridge_status:
none - helper: none
- exemplar: none
Launch
Every driver package starts the same way; per-repo configuration (environment id, model path, port, baud rate, VISA resource) lives in the package's driver.py, never in launch flags:
mhs serve <driver-dir>A package is done when python3 -m mhs.driver check <driver-dir> --backend fake exits 0 (evidence contract_checked; a fake never yields an MHS-Device level).
Registry coverage
- Repos: 6
- Decisions: bridge-runtime 1, skip 5
- Waves: 9: 6
- Dispatchable now: 0
- Modes: simulated 1
Applicability
Repos the catalogue files as Drake simulations. No Driver helper is planned before or after the pilot, so their cards are recon-only (wave 4) or last (wave 6: GPU, Windows or an engine licence). A simulator family needs a structural marker in the code, never only a README or name match.
Capability mapping
| native call | OpenMHS target | notes |
|---|---|---|
| construct the environment or load the model | lifecycle: construction (class attributes in driver.py) | never cap.world.reset.v1 |
| reset(seed) | cap.world.reset.v1 | output: the initial observation; a seed set with cap.world.seed.v1 applies at the next reset |
| step(action) | cap.world.step.v1 {ticks, action} | the action space becomes the input schema with per-element limits |
| get_state() / set_state() | mhs.snapshot / mhs.restore (protocol methods) | only when the engine restores the complete state; cap.world.snapshot.v1 and cap.world.restore.v1 are deprecated |
| close() | lifecycle: teardown | never cap.world.restore.v1 |
Class ids come from python3 -m mhs.driver catalog search <words>. The deprecated classes cap.device.describe.v1, cap.world.state.v1, cap.world.snapshot.v1 and cap.world.restore.v1 are replaced by the protocol methods mhs.devices.get, mhs.resource.read, mhs.snapshot and mhs.restore.
Safety
The risk floor of a device is the highest catalogue risk_class of its classes (CAP-017); a driver may declare a higher risk, never a lower one. Hardware at R1 or above needs an @estop and a non-empty safe state. The risk floor of every class still comes from the catalogue.
Fidelity
Engine-specific; nothing here claims fidelity.
Pitfalls
Contact solver parameters change results; AdvanceTo is duration-based.
First task cards
gh.robotlocomotion/drake: bridge-runtime, wave 9, rank 127,MHS/registry/tasks/robots/robotlocomotion__drake.jsongh.robotlocomotion/director: skip, wave 9, rank 319,MHS/registry/tasks/robots/robotlocomotion__director.jsongh.robotlocomotion/drake-external-examples: skip, wave 9, rank 356,MHS/registry/tasks/robots/robotlocomotion__drake-external-examples.jsongh.vincekurtz/quadruped_drake: skip, wave 9, rank 486,MHS/registry/tasks/robots/vincekurtz__quadruped_drake.jsongh.robotlocomotion/spartan: skip, wave 9, rank 491,MHS/registry/tasks/robots/robotlocomotion__spartan.json
Sources
- Task cards:
MHS/registry/tasks/<track>/<owner>__<repo>.json(schema/taskcard.schema.json). - Triage rules and the helper table:
MHS/registry/triage.py; curated decisions:MHS/registry/overrides/. - Driver API and gate:
MHS/sdk/docs/driver-authoring.md; exemplars:MHS/drivers/.
Packages
Top 6 of 6 by stars. Filter the full list.
| Package | Tier | Ring | Evidence | Stars |
|---|---|---|---|---|
| robotlocomotion/drake robotlocomotion/drake: physics engines for physics engines (robotics track). OpenMHS plan: SDK bridge runtime, not a per | Tier C | 3 | agent read | 4,220 |
| robotlocomotion/director robotlocomotion/director: auxiliary tooling for general (robotics track). OpenMHS plan: not integrated (skip:tooling). D | Tier D | 3 | static scan | 195 |
| robotlocomotion/drake-external-examples robotlocomotion/drake-external-examples: auxiliary tooling for general (robotics track). OpenMHS plan: not integrated (s | Tier D | 3 | static scan | 125 |
| vincekurtz/drake_ddp vincekurtz/drake_ddp: catalog/discovery tooling (robotics track). OpenMHS plan: not integrated (skip:peripheral). Langua | Tier D | 3 | static scan | 83 |
| vincekurtz/quadruped_drake vincekurtz/quadruped_drake: complete environment for legged robots (robotics track). OpenMHS plan: not integrated (overr | Tier D | 3 | static scan | 34 |
| robotlocomotion/spartan robotlocomotion/spartan: auxiliary tooling for robot arm manipulation (robotics track). OpenMHS plan: not integrated (sk | Tier D | 3 | static scan | 32 |