OpenMHS family: pybullet

PyBullet simulators (no helper planned)

Generated by MHS/registry/build_registry.py on 2026-10-20T00:00:00Z from 46 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: 46
• Decisions: bridge-runtime 3, reference 3, skip 40
• Waves: 9: 46
• Dispatchable now: 0
• Modes: simulated 4

Applicability

Repos the catalogue files as PyBullet simulators. 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

Action modes must be declared; GUI mode fails headless.

First task cards

• gh.bulletphysics/bullet3: bridge-runtime, wave 9, rank 86, MHS/registry/tasks/robots/bulletphysics__bullet3.json
• gh.mees/calvin: skip, wave 9, rank 187, MHS/registry/tasks/robots/mees__calvin.json
• gh.caelan/pddlstream: skip, wave 9, rank 229, MHS/registry/tasks/robots/caelan__pddlstream.json
• gh.caelan/pybullet-planning: skip, wave 9, rank 232, MHS/registry/tasks/robots/caelan__pybullet-planning.json
• gh.wenbowen123/catgrasp: skip, wave 9, rank 259, MHS/registry/tasks/robots/wenbowen123__catgrasp.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/.