{
  "id": "home-robot-projects-slap-manipulation-src-slap-manipulation-policy-peract-py",
  "name": "home-robot: peract",
  "summary": "Official home-robot python main example for peract. Inspect the pinned source and upstream setup before use.",
  "framework": "home-robot",
  "kind": "official_example",
  "source_registry": "ecosystem-examples-v1",
  "capabilities": [
    "mobile-manipulation",
    "policy"
  ],
  "robot_types": [
    "source-defined"
  ],
  "robot_scope": "Discovery labels inferred from this source path; inspect its robot configuration for compatibility. Project-wide categories are not a supported-robot list.",
  "source": {
    "repository": "https://github.com/facebookresearch/home-robot",
    "commit": "ede6a67a2d0c0c8e12ad3b9726f330cea6cf90f5",
    "tag": "reviewed-2026-10-20",
    "path": "projects/slap_manipulation/src/slap_manipulation/policy/peract.py",
    "url": "https://github.com/facebookresearch/home-robot/blob/ede6a67a2d0c0c8e12ad3b9726f330cea6cf90f5/projects/slap_manipulation/src/slap_manipulation/policy/peract.py",
    "raw_url": "https://raw.githubusercontent.com/facebookresearch/home-robot/ede6a67a2d0c0c8e12ad3b9726f330cea6cf90f5/projects/slap_manipulation/src/slap_manipulation/policy/peract.py",
    "sha256": "8e864aab6f5998fcc3775a824ebac08f9c9296b020323fd8c9797628eb127a33",
    "bytes": 55610
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  "license": {
    "spdx": "MIT",
    "url": "https://github.com/facebookresearch/home-robot/blob/ede6a67a2d0c0c8e12ad3b9726f330cea6cf90f5/LICENSE",
    "sha256": "cf9b17822d1fcd4ff32ccbe14183386fb3adf6f2ff92dc184130823f7fc28173",
    "scope": "Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review."
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.",
    "setup_url": "https://github.com/facebookresearch/home-robot/blob/ede6a67a2d0c0c8e12ad3b9726f330cea6cf90f5/README.md"
  },
  "requirements": {
    "python": "Inspect the pinned upstream package metadata for the supported Python version.",
    "packages": [],
    "display": "Upstream simulator, robot model, build, display and device requirements; inspect the selected source.",
    "execution_domain": "simulation-or-hardware",
    "source_imports": [
      "arm.qattention_agent",
      "arm.utils",
      "click",
      "clip",
      "copy",
      "datetime",
      "einops",
      "home_robot.utils.point_cloud",
      "home_robot.utils.pose",
      "matplotlib.pyplot",
      "numpy",
      "open3d",
      "os",
      "pathlib",
      "peract.helper.network_utils",
      "peract.voxel.voxel_grid",
      "perceiver_pytorch.perceiver_io",
      "slap_manipulation.dataloaders.peract_loader",
      "slap_manipulation.optim.lamb",
      "slap_manipulation.policy.components",
      "time",
      "torch",
      "torch.nn.functional",
      "tqdm",
      "trimesh.transformations",
      "yaml"
    ]
  },
  "invocation": {
    "entrypoint": "python projects/slap_manipulation/src/slap_manipulation/policy/peract.py",
    "notes": "Source reference only. Install the pinned upstream project and its stated dependencies explicitly. Robot bridges may actuate hardware; no hardware execution is established. Asset, model, SDK and data terms remain separate."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 1249,
    "checked_at": "2026-10-20",
    "meaning": "Dated repository interest, not robot-skill usage, compatibility or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-20",
    "inspection": "Fetched and SHA-256 checked this immutable source; statically parsed Python or located native main; verified pinned license bytes and checked explicit per-file license identifiers. No upstream code executed.",
    "entrypoint_kind": "python_main",
    "inspection_method": "automated_static"
  }
}