OpenMHS family: mujoco

MuJoCo models and simulators as MujocoDriver family-configs

Generated by MHS/registry/build_registry.py on 2026-10-20T00:00:00Z from 203 registry records and their task cards. A plan, not a conformance claim.

• bridge_status: available
• helper: MujocoDriver
• 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: 203
• Decisions: bridge-runtime 11, direct-driver 6, family-config 81, reference 2, skip 103
• Waves: 1: 5, 2: 13, 3: 55, 6: 14, 9: 116
• Dispatchable now: 0
• Modes: simulated 98

Applicability

A loadable MJCF scene or robot model with actuators, with a mujoco, dm_control or mujoco_py import, or in a pure model repository: triage rule 9, family:mujoco. The card's models names the model to load (the first entry is the main scene or robot model); object and fixture assets, MJCF fragments and copies under examples or tests never qualify. Environments that compose their MJCF at run time (robosuite, LIBERO) have no main model in the clone and are recon cards. It copies the structure of the Gymnasium exemplar.

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. A model of a real robot gives the hardware no lower risk class; the hardware device takes its floor from the catalogue.

Fidelity

The time step is declared in the MJCF; mesh and texture assets carry their own licences.

Pitfalls

qpos-only snapshots miss controller, RNG and time state; mj_step counts are not wall-clock; rendering needs a GL context.

First task cards

• gh.turagalab/flybody: family-config, wave 1, rank 40, MHS/registry/tasks/robots/turagalab__flybody.json
• gh.google-deepmind/aloha_sim: family-config, wave 1, rank 47, MHS/registry/tasks/robots/google-deepmind__aloha_sim.json
• gh.nonejou072/robopal: family-config, wave 1, rank 48, MHS/registry/tasks/robots/nonejou072__robopal.json
• gh.zichunxx/panda_mujoco_gym: family-config, wave 1, rank 52, MHS/registry/tasks/robots/zichunxx__panda_mujoco_gym.json
• gh.princeton-robot-planning-and-learning/kindergarden: family-config, wave 1, rank 54, MHS/registry/tasks/robots/princeton-robot-planning-and-learning__kindergarden.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/.