OpenMHS family: lerobot-real

LeRobot robots (helper:lerobot, planned)

Generated by MHS/registry/build_registry.py on 2026-10-20T00:00:00Z from 8 registry records and their task cards. A plan, not a conformance claim.

• bridge_status: planned (blocked_on: helper:lerobot)
• 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: 8
• Decisions: bridge-runtime 1, family-config 1, skip 6
• Waves: 5: 1, 9: 7
• Dispatchable now: 0
• Modes: hardware 2, simulated 2

Applicability

get_observation() becomes reads, send_action() maps to cap.motion.joint_position.v1, disconnect() is teardown.

Capability mapping

The mapping is fixed when the helper lands; the applicability section lists its rules.

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. Real arms at R1 and above need an e-stop and a safe state.

Fidelity

Bridge only; the fidelity belongs to the service, simulator or hardware behind it.

Pitfalls

Calibration files and joint order are robot-specific.

First task cards

• gh.vector-wangel/xlerobot: family-config, wave 5, rank 5, MHS/registry/tasks/robots/vector-wangel__xlerobot.json
• gh.huggingface/lerobot: bridge-runtime, wave 9, rank 1, MHS/registry/tasks/robots/huggingface__lerobot.json
• gh.huggingface/lerobot-dataset-visualizer: skip, wave 9, rank 7, MHS/registry/tasks/robots/huggingface__lerobot-dataset-visualizer.json
• gh.mohitshridhar/genima: skip, wave 9, rank 845, MHS/registry/tasks/robots/mohitshridhar__genima.json
• gh.lightwheelai/leisaac: skip, wave 9, rank 1149, MHS/registry/tasks/robots/lightwheelai__leisaac.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/.