On this page 9 sections
Habitat and iGibson environments (no helper planned)
Generated by MHS/registry/build_registry.py on 2026-10-20T00:00:00Z from 13 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: 13
- Decisions: bridge-runtime 2, skip 11
- Waves: 9: 13
- Dispatchable now: 0
- Modes: simulated 2
Applicability
Repos the catalogue files as Habitat and iGibson environments. 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
Large scene datasets and GPU rendering.
First task cards
gh.facebookresearch/habitat-sim: bridge-runtime, wave 9, rank 130,MHS/registry/tasks/robots/facebookresearch__habitat-sim.jsongh.stanfordvl/igibson: bridge-runtime, wave 9, rank 200,MHS/registry/tasks/robots/stanfordvl__igibson.jsongh.gt-ripl/robo-vln: skip, wave 9, rank 390,MHS/registry/tasks/robots/gt-ripl__robo-vln.jsongh.ram81/habitat-imitation-baselines: skip, wave 9, rank 473,MHS/registry/tasks/robots/ram81__habitat-imitation-baselines.jsongh.silence143/emmoe: skip, wave 9, rank 506,MHS/registry/tasks/robots/silence143__emmoe.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 13 of 13 by stars. Filter the full list.
| Package | Tier | Ring | Evidence | Stars |
|---|---|---|---|---|
| facebookresearch/habitat-sim facebookresearch/habitat-sim: mobile navigation for mobile navigation (robotics track). OpenMHS plan: SDK bridge runtime | Tier A | 3 | static scan | 3,833 |
| stanfordvl/igibson stanfordvl/igibson: mobile navigation for mobile navigation (robotics track). OpenMHS plan: SDK bridge runtime, not a pe | Tier A | 3 | static scan | 817 |
| gt-ripl/robo-vln gt-ripl/robo-vln: catalog/discovery tooling (robotics track). OpenMHS plan: not integrated (skip:peripheral). Language: | Tier D | 3 | static scan | 90 |
| stanford-iliad/explore-eqa stanford-iliad/explore-eqa: policy/algorithm for mobile robots (robotics track). OpenMHS plan: not integrated (skip:peri | Tier D | 3 | static scan | 87 |
| martin-sedlacek/realm martin-sedlacek/realm: complete environment for robot arm manipulation (robotics track). OpenMHS plan: not integrated (o | Tier D | 3 | static scan | 68 |
| rllab-snu/visual-graph-memory rllab-snu/visual-graph-memory: catalog/discovery tooling (robotics track). OpenMHS plan: not integrated (skip:peripheral | Tier D | 3 | static scan | 67 |
| ram81/habitat-imitation-baselines ram81/habitat-imitation-baselines: policy/algorithm for mobile robots (robotics track). OpenMHS plan: not integrated (sk | Tier D | 3 | static scan | 42 |
| stanfordvl/b1k-baselines stanfordvl/b1k-baselines: policy/algorithm for general (robotics track). OpenMHS plan: not integrated (skip:peripheral). | Tier D | 3 | static scan | 36 |
| silence143/emmoe silence143/emmoe: complete environment for mobile robots (robotics track). OpenMHS plan: not integrated (override:recon) | Tier D | 3 | static scan | 28 |
| mj-hwang/omnimimic mj-hwang/omnimimic: auxiliary tooling for mobile robots (robotics track). OpenMHS plan: not integrated (skip:tooling). D | Tier D | 3 | static scan | 8 |
| allenai/allenact allenai/allenact: policy/algorithm for general (robotics track). OpenMHS plan: not integrated (skip:peripheral). Declare | Tier D | 3 | static scan | 0 |
| facebookresearch/eai-vc facebookresearch/eai-vc: policy/algorithm for general (robotics track). OpenMHS plan: not integrated (skip:peripheral). | Tier D | 3 | static scan | 0 |
| j96w/behavior j96w/behavior: auxiliary tooling for mobile robots; robot arm manipulation (robotics track). OpenMHS plan: not integrate | Tier D | 3 | static scan | 0 |