OpenMHS family: isaac-gym

Isaac Gym environments (no helper planned)

Generated by MHS/registry/build_registry.py on 2026-10-20T00:00:00Z from 58 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: 58
• Decisions: bridge-runtime 2, reference 2, skip 54
• Waves: 9: 58
• Dispatchable now: 0
• Modes: simulated 2

Applicability

Repos the catalogue files as Isaac Gym 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

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

A preview-era package pinned to old Python and CUDA versions.

First task cards

• gh.leggedrobotics/legged_gym: skip, wave 9, rank 755, MHS/registry/tasks/robots/leggedrobotics__legged_gym.json
• gh.lecar-lab/asap: skip, wave 9, rank 811, MHS/registry/tasks/robots/lecar-lab__asap.json
• gh.clearlab-sustech/wheel-legged-gym: skip, wave 9, rank 1158, MHS/registry/tasks/robots/clearlab-sustech__wheel-legged-gym.json
• gh.pku-epic/dexgraspnet: skip, wave 9, rank 1200, MHS/registry/tasks/robots/pku-epic__dexgraspnet.json
• gh.lupinjia/leggedgym-ex: skip, wave 9, rank 1218, MHS/registry/tasks/robots/lupinjia__leggedgym-ex.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/.