OpenMHS family: gymnasium

Gymnasium environments as GymnasiumDriver family-configs

Generated by MHS/registry/build_registry.py on 2026-10-20T00:00:00Z from 392 registry records and their task cards. A plan, not a conformance claim.

• bridge_status: available
• helper: GymnasiumDriver
• exemplar: MHS/drivers/robots/farama-foundation__gymnasium

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: 392
• Decisions: bridge-runtime 9, direct-driver 11, family-config 274, reference 11, skip 87
• Waves: 0: 1, 1: 5, 2: 67, 3: 136, 5: 3, 6: 73, 9: 107
• Dispatchable now: 0
• Modes: simulated 306

Applicability

The code registers gym or gymnasium environments and needs no external simulator application: triage rule 9, family:gymnasium. Exemplar: Farama-Foundation/Gymnasium (CartPole-v1).

Capability mapping

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. An environment's motion and manipulation classes keep their catalogue risk classes for the agent contract even in simulation. terminated is not task success.

Fidelity

Fidelity is defined by the engine behind the environment; declare action space, control frequency, horizon and seeding in the fidelity contract.

Pitfalls

Wrappers clip or normalise actions; reset may not reseed every RNG; vectorised environments are not one device; rendering may need a display or GPU.

First task cards

• gh.farama-foundation/gymnasium: family-config, wave 0, rank 1, MHS/registry/tasks/robots/farama-foundation__gymnasium.json
• gh.huggingface/gym-aloha: family-config, wave 1, rank 3, MHS/registry/tasks/robots/huggingface__gym-aloha.json
• gh.huggingface/gym-pusht: family-config, wave 1, rank 4, MHS/registry/tasks/robots/huggingface__gym-pusht.json
• gh.farama-foundation/highwayenv: family-config, wave 1, rank 33, MHS/registry/tasks/robots/farama-foundation__highwayenv.json
• gh.farama-foundation/minigrid: family-config, wave 1, rank 35, MHS/registry/tasks/robots/farama-foundation__minigrid.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/.