On this page 9 sections
SAPIEN and ManiSkill environments (no helper planned)
Generated by MHS/registry/build_registry.py on 2026-10-20T00:00:00Z from 11 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: 11
- Decisions: bridge-runtime 1, skip 10
- Waves: 9: 11
- Dispatchable now: 0
- Modes: simulated 2
Applicability
Repos the catalogue files as SAPIEN and ManiSkill 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
Vulkan GPU; asset licences differ from the code licence.
First task cards
gh.haosulab/maniskill2-learn: skip, wave 9, rank 391,MHS/registry/tasks/robots/haosulab__maniskill2-learn.jsongh.dingry/bunnyvisionpro: skip, wave 9, rank 595,MHS/registry/tasks/robots/dingry__bunnyvisionpro.jsongh.haosulab/maniskill-learn: skip, wave 9, rank 861,MHS/registry/tasks/robots/haosulab__maniskill-learn.jsongh.geyan21/maniflow_policy: skip, wave 9, rank 988,MHS/registry/tasks/robots/geyan21__maniflow_policy.jsongh.yolkarian/sapien: skip, wave 9, rank 1116,MHS/registry/tasks/robots/yolkarian__sapien.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 11 of 11 by stars. Filter the full list.
| Package | Tier | Ring | Evidence | Stars |
|---|---|---|---|---|
| haosulab/sapien haosulab/sapien: physics engines for general rigid body / joint object physics simulation and rendering (robotics track) | Tier C | 3 | agent read | 851 |
| dingry/bunnyvisionpro dingry/bunnyvisionpro: auxiliary tooling for robot arm manipulation (robotics track). OpenMHS plan: not integrated (skip | Tier D | 3 | static scan | 358 |
| haosulab/maniskill2-learn haosulab/maniskill2-learn: policy/algorithm for robot arm manipulation (robotics track). OpenMHS plan: not integrated (s | Tier D | 3 | static scan | 90 |
| haosulab/maniskill-learn haosulab/maniskill-learn: policy/algorithm for robot arm manipulation (robotics track). OpenMHS plan: not integrated (sk | Tier D | 3 | static scan | 70 |
| tritiumr/prompting-with-the-future tritiumr/prompting-with-the-future: catalog/discovery tooling (robotics track). OpenMHS plan: not integrated (skip:perip | Tier D | 3 | static scan | 56 |
| tongzhoumu/maniskill_baselines tongzhoumu/maniskill_baselines: policy/algorithm for robot arm manipulation (robotics track). OpenMHS plan: not integrat | Tier D | 3 | static scan | 23 |
| ai4ce/int-act ai4ce/int-act: policy/algorithm for robot arm manipulation (robotics track). OpenMHS plan: not integrated (skip:peripher | Tier D | 3 | static scan | 0 |
| fanzhenxuan/robospa fanzhenxuan/robospa: dataset for robot arm manipulation (robotics track). OpenMHS plan: not integrated (skip:peripheral) | Tier D | 3 | static scan | 0 |
| gen-robot/rl4vla gen-robot/rl4vla: policy/algorithm for robot arm manipulation (robotics track). OpenMHS plan: not integrated (skip:perip | Tier D | 3 | static scan | 0 |
| geyan21/maniflow_policy geyan21/maniflow_policy: policy/algorithm for robot arm manipulation (robotics track). OpenMHS plan: not integrated (ski | Tier D | 3 | static scan | 0 |
| yolkarian/sapien yolkarian/sapien: physics engines for robot arm manipulation (robotics track). OpenMHS plan: not integrated (skip:duplic | Tier C | 3 | static scan | 0 |