ManiSkill panda_wristcam PegInsertionSide-v1 motion planner

Align a peg with a side-facing hole and insert it using Panda WristCam.

maniskill-panda-peg-insertion-side | Record version: 1.0.0

Record JSON | Markdown recipe | All records

Fetch and prepare

curl -fsSL https://hub.superfastrobotics.com/skills/maniskill-panda-peg-insertion-side/skill.json
curl -fsSL https://hub.superfastrobotics.com/skills/maniskill-panda-peg-insertion-side/README.md
python /PATH_TO_SKILL/scripts/rsh.py --catalog https://hub.superfastrobotics.com/catalog/v1/index.json inspect maniskill-panda-peg-insertion-side --json
python /PATH_TO_SKILL/scripts/rsh.py --catalog https://hub.superfastrobotics.com/catalog/v1/index.json prepare maniskill-panda-peg-insertion-side --project ./experiment --plan --json

Inspect the requirements, then remove --plan to prepare a project. Preparation verifies the archive SHA256 and preserves exact source pins. --install-deps explicitly installs dependencies. Run the returned simulation command separately.

Environment

Runtime: maniskill 3.0.0b22
Robot: panda_wristcam
Controller: pd_joint_pos
Observation: state
OS / architecture: linux / x86_64
Python: >=3.10,<3.11

Compatibility status: source_reviewed

Reads ground-truth object poses, collision geometry and robot state directly from the simulator. Not an RGB-only policy.

Requirements

Linux x86_64 CPU; SAPIEN wheel needs glibc >=2.28

disabled explicitly: render_backend=none, render_mode=None, state observations and CPU simulation; graphics paths require separate Vulkan setup

Packages: torch==2.5.1, numpy==1.26.4, sapien==3.0.0, mplib==0.1.1, fast_kinematics==0.2.2

Direct dependencies pinned; transitive dependencies resolved by pip and captured in the prepared project. No bit-for-bit environment guarantee.

External API keys: none.

Invocation

Entrypoint: mani_skill.examples.motionplanning.panda.solutions.peg_insertion_side:solve

{
  "argv": [
    "{python}",
    "{recipe_dir}/run.py",
    "--seed",
    "0"
  ],
  "inputs": {
    "task": "PegInsertionSide-v1",
    "seed": 0,
    "robot": "panda_wristcam",
    "controller": "pd_joint_pos",
    "obs_mode": "state",
    "sim_backend": "cpu",
    "render_backend": "none",
    "reward_mode": "sparse"
  },
  "outputs": {
    "format": "last stdout line JSON",
    "fields": [
      "status",
      "success",
      "elapsed_steps",
      "task",
      "seed",
      "runtime",
      "robot",
      "controller",
      "observation",
      "sim_backend",
      "render_backend"
    ],
    "error_fields": [
      "status",
      "reason_code",
      "error_type",
      "message"
    ]
  }
}

Success: PegInsertionSide-v1 env info.success is true after the upstream solver finishes; exit 0 requires success.

Timeout: 300 seconds. Stop after one seed; no automatic retries. Use an external 300-second process timeout.

Failure modes

Dependency installation unavailable or incompatible
Required Linux mplib wheels unavailable on host OS
Motion planning reports failure or env info.success is false
Runtime exception or asset download failure

Source and license

Repository: https://github.com/haosulab/ManiSkill
Authors: ManiSkill contributors
Commit: 33967b9e3ead1f841eec57cc9f31d0d8b8cf0907
Archive SHA256: d194e39e4f86063f7ea49f25c918ca7474d088ad8d5abdc37573daf4672f86d4
License: Apache-2.0
Hub commit: 01b4b20f7ea55d9e9395915aed4e82c890c4c1c4

Evidence

Runtime: not_run / source_reviewed

Inspected the pinned solver signature, task registration, source license and wrapper contract. No simulator invocation evidence is attached.

Reviewer: Robot Skill Hub source review | 2026-10-17

python tools/import_official_samples.py --archive .local/upstream/maniskill-33967b9.tar.gz --check
python -m unittest discover -s tests/python -p test_bulk_catalog.py

Submitter reports and hub verification remain separate. Source review does not establish task success.