{
  "schema_version": "1",
  "id": "maniskill-panda-stack-pyramid",
  "name": "ManiSkill panda StackPyramid-v1 motion planner",
  "summary": "Arrange three cubes into a pyramid using the official Panda planner.",
  "capabilities": [
    "stacking",
    "pick-and-place",
    "multi-object",
    "motion-planning"
  ],
  "aliases": [
    "StackPyramid-v1",
    "panda",
    "panda_stack_pyramid",
    "robot manipulation",
    "reusable Python code"
  ],
  "source": {
    "repository": "https://github.com/haosulab/ManiSkill",
    "commit": "33967b9e3ead1f841eec57cc9f31d0d8b8cf0907",
    "tag": "v3.0.0b22",
    "paths": [
      "mani_skill/examples/motionplanning/panda/run.py",
      "mani_skill/examples/motionplanning/panda/solutions/stack_pyramid.py",
      "mani_skill/envs/tasks/tabletop/stack_pyramid.py",
      "setup.py",
      "LICENSE"
    ],
    "archive_url": "https://codeload.github.com/haosulab/ManiSkill/tar.gz/33967b9e3ead1f841eec57cc9f31d0d8b8cf0907",
    "archive_sha256": "d194e39e4f86063f7ea49f25c918ca7474d088ad8d5abdc37573daf4672f86d4",
    "archive_bytes": 243636110,
    "authors": [
      "ManiSkill contributors"
    ],
    "contributing_url": "https://github.com/haosulab/ManiSkill/tree/33967b9e3ead1f841eec57cc9f31d0d8b8cf0907"
  },
  "license": {
    "spdx": "Apache-2.0",
    "url": "https://github.com/haosulab/ManiSkill/blob/33967b9e3ead1f841eec57cc9f31d0d8b8cf0907/LICENSE",
    "verified": true,
    "scope": "Upstream ManiSkill code; hub wrapper and metadata use the hub LICENSE."
  },
  "compatibility": [
    {
      "runtime": "maniskill",
      "runtime_version": "3.0.0b22",
      "robot": "panda",
      "controller": "pd_joint_pos",
      "observation": "state",
      "os": "linux",
      "architecture": "x86_64",
      "python": "3.10",
      "status": "source_reviewed"
    }
  ],
  "observation": {
    "required": [
      "simulator_state"
    ],
    "privileged_state": true,
    "description": "Reads ground-truth object poses, collision geometry and robot state directly from the simulator. Not an RGB-only policy."
  },
  "requirements": {
    "python": ">=3.10,<3.11",
    "packages": [
      "torch==2.5.1",
      "numpy==1.26.4",
      "sapien==3.0.0",
      "mplib==0.1.1",
      "fast_kinematics==0.2.2"
    ],
    "hardware": [
      "Linux x86_64 CPU; SAPIEN wheel needs glibc >=2.28"
    ],
    "rendering": "disabled explicitly: render_backend=none, render_mode=None, state observations and CPU simulation; graphics paths require separate Vulkan setup",
    "api_keys": [],
    "network": [
      "GitHub source archive (~233 MiB)",
      "PyPI and dependency distributions; source package build hooks may execute"
    ],
    "dependency_lock": "Direct dependencies pinned; transitive dependencies resolved by pip and captured in the prepared project. No bit-for-bit environment guarantee."
  },
  "invocation": {
    "entrypoint": "mani_skill.examples.motionplanning.panda.solutions.stack_pyramid:solve",
    "argv": [
      "{python}",
      "{recipe_dir}/run.py",
      "--seed",
      "0"
    ],
    "inputs": {
      "task": "StackPyramid-v1",
      "seed": 0,
      "robot": "panda",
      "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"
      ]
    },
    "example": "python skills/find-robot-skills/scripts/rsh.py prepare maniskill-panda-stack-pyramid --project ./experiment --json"
  },
  "completion": {
    "success_condition": "StackPyramid-v1 env info.success is true after the upstream solver finishes; exit 0 requires success.",
    "timeout_seconds": 300,
    "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"
    ],
    "stop_condition": "Stop after one seed; no automatic retries. Use an external 300-second process timeout."
  },
  "preparation": {
    "recipe_path": "recipes/maniskill-panda-stack-pyramid",
    "requirements_file": "recipes/maniskill-panda-stack-pyramid/requirements.txt",
    "install_argv": [
      "{python}",
      "-m",
      "pip",
      "install",
      "-r",
      "{recipe_dir}/requirements.txt",
      "{source_dir}"
    ],
    "execution_separate": true,
    "files": {
      "run.py": "\"\"\"Hub adapter for the pinned official StackPyramid-v1 / panda motion planner.\n\nUpstream solver: ManiSkill contributors, Apache-2.0. This wrapper contains no\nupstream solver implementation. Simulation execution is a separate explicit step.\n\"\"\"\nimport argparse\nimport importlib.metadata\nimport json\n\n\ndef main():\n    parser = argparse.ArgumentParser(description=__doc__)\n    parser.add_argument(\"--seed\", type=int, default=0)\n    args = parser.parse_args()\n    actual = importlib.metadata.version(\"mani_skill\")\n    if actual != \"3.0.0b22\":\n        raise RuntimeError(f\"Expected mani_skill 3.0.0b22, found {actual}\")\n    import gymnasium as gym\n    import mani_skill.envs\n    from mani_skill.examples.motionplanning.panda.solutions.stack_pyramid import solve\n\n    # Sparse reward avoids robot-specific dense reward helpers in upstream variants.\n    env = gym.make(\"StackPyramid-v1\", robot_uids=\"panda\", obs_mode=\"state\",\n                   control_mode=\"pd_joint_pos\", sim_backend=\"cpu\",\n                   render_backend=\"none\", render_mode=None, reward_mode=\"sparse\")\n    try:\n        result = solve(env, seed=args.seed, debug=False, vis=False)\n        if isinstance(result, int) and result == -1:\n            report = {\"status\": \"failed\", \"reason_code\": \"motion_plan_failed\"}\n        else:\n            info = result[-1]\n            success = bool(info[\"success\"].item())\n            report = {\"status\": \"task_complete\" if success else \"failed\",\n                      \"success\": success, \"elapsed_steps\": int(info[\"elapsed_steps\"].item())}\n        report.update(task=\"StackPyramid-v1\", seed=args.seed, runtime=\"3.0.0b22\",\n                      robot=\"panda\", controller=\"pd_joint_pos\", observation=\"state\",\n                      sim_backend=\"cpu\", render_backend=\"none\")\n        print(json.dumps(report))\n        return 0 if report.get(\"success\") else 1\n    finally:\n        env.close()\n\n\nif __name__ == \"__main__\":\n    try:\n        exit_code = main()\n    except Exception as error:\n        print(json.dumps({\"status\": \"failed\", \"reason_code\": \"runtime_error\",\n                          \"error_type\": type(error).__name__, \"message\": str(error)}))\n        exit_code = 1\n    raise SystemExit(exit_code)\n",
      "requirements.txt": "# Direct dependencies pinned for the initial Linux / Python 3.10 recipe.\n# Install the SHA256-checked upstream source separately as documented.\ntorch==2.5.1\nnumpy==1.26.4\nsapien==3.0.0\nmplib==0.1.1\nfast_kinematics==0.2.2\n# Transitive dependencies are resolved by pip; this is not a full lockfile.\n"
    }
  },
  "evidence": {
    "level": "source_reviewed",
    "verified_by": "Robot Skill Hub source review",
    "date": "2026-10-17",
    "environment": {
      "source": "pinned upstream release",
      "host": "Windows source inspection"
    },
    "commands": [
      "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"
    ],
    "result": "Inspected the pinned solver signature, task registration, source license and wrapper contract. No simulator invocation evidence is attached.",
    "artifacts": [],
    "runtime_verification": "not_run",
    "contributor_reported": null,
    "hub_verification": {
      "level": "source_reviewed",
      "runtime": "not_run"
    }
  },
  "maintenance": {
    "record_version": "1.0.0",
    "last_checked": "2026-10-17",
    "upstream_status": "pinned_release; no automatic update"
  },
  "contribution": {
    "allowed_paths": [
      "catalog/records/maniskill-panda-stack-pyramid.json",
      "docs/recipes/maniskill-panda-stack-pyramid.md",
      "recipes/maniskill-panda-stack-pyramid/requirements.txt",
      "recipes/maniskill-panda-stack-pyramid/run.py"
    ],
    "instructions": "Only actual reusable fixes. Public submission permission and a scoped pilot token are separate requirements. Submission opens a public internal draft PR; it is not publication."
  }
}