# Meta-World Sawyer shelf-place-v3 scripted controller Meta-World Sawyer shelf-place-v3 scripted controller. Bounded, source-pinned simulation with an explicit task contract and retained fixed-case outcomes. Record version: `1.0.0` · Hub commit: `f97266a5cdd2c600cd376397a54892f08290df20` ## Executable interface ```json { "version": "1", "kind": "task", "abstraction_level": 2, "execution_domain": "simulation", "language": "python", "input_transport": "json_file_or_inline", "output_transport": "json_stdout", "output_selector": "outputs", "conventions": { "linear_unit": "m", "angular_unit": "rad", "time_unit": "s", "coordinate_frame": "right_handed_world_xyz; +z_up", "joint_order": "not_used", "quaternion_order": "not_used" }, "input_schema": { "type": "object", "required": [ "seed" ], "properties": { "seed": { "type": "integer", "minimum": 0, "maximum": 10000 } }, "additionalProperties": false }, "output_schema": { "type": "object", "required": [ "success_window", "native_success", "steps", "control_effort", "hand_movement_m", "native_metrics" ], "properties": { "success_window": { "type": "array", "minItems": 1, "maxItems": 20, "items": { "type": "boolean" } }, "native_success": { "type": "boolean" }, "steps": { "type": "integer", "minimum": 1, "maximum": 500 }, "control_effort": { "type": "number", "minimum": 0, "maximum": 10000 }, "hand_movement_m": { "type": "number", "minimum": 0, "maximum": 10, "x-unit": "m" }, "native_metrics": { "type": "array", "minItems": 0, "maxItems": 32, "items": { "type": "object", "required": [ "name", "value" ], "properties": { "name": { "type": "string", "maxLength": 80 }, "value": { "type": "number", "minimum": -10000, "maximum": 10000 } }, "additionalProperties": false } } }, "additionalProperties": false }, "preconditions": [ "Use the exact recorded source, Linux Python 3.11 environment and pinned direct packages.", "No physical robot, network actuation or external robot credentials." ], "postconditions": [ "All reported checks must be true and all output numbers finite.", "Success covers the declared goal and frozen cases, not arbitrary tasks or physical hardware." ], "failure_codes": [ "invalid_input_or_environment", "execution_failed", "task_failed" ], "composition": { "depends_on": [], "automatic_frame_conversion": false, "automatic_hardware_execution": false }, "origin_reference_ids": [ "metaworld-metaworld-policies-sawyer-shelf-place-v3-policy-py" ], "origin_relationship": "prepared_from_the_same_pinned_model; inspect the declared controller and goal; no physical compatibility is inferred" } ``` ## Exact environment | Runtime | Robot | Controller | Observation | OS | Python | Evidence | | --- | --- | --- | --- | --- | --- | --- | | metaworld 3.1.1 | sawyer | scripted-policy | privileged_simulator_state | linux x86_64 | >=3.11,<3.12 | task_complete | Privileged simulator observations and goal/state feedback. No physical sensor validation. Compatibility status: **hub_verified**. An environment match does not establish task completion. Runtime verification: **task_complete**. ## Source and license - Repository: https://github.com/Farama-Foundation/Metaworld - Source commit: `c0dafaf1557f31cad3b96ba2b62462f45638f5a5` (no tag) - Original authors: Original Metaworld contributors; preserve all pinned source and asset notices - License: [MIT](https://github.com/Farama-Foundation/Metaworld/blob/c0dafaf1557f31cad3b96ba2b62462f45638f5a5/LICENSE) - Source archive SHA256: `ea091176e3be68314432025d945fa7005f50cc82b319db3cc19374d37c6b52c0` - Upstream files: `LICENSE`, `pyproject.toml`, `metaworld/__init__.py`, `metaworld/env_dict.py`, `metaworld/sawyer_xyz_env.py`, `metaworld/policies/policy.py`, `metaworld/policies/action.py`, `metaworld/policies/sawyer_shelf_place_v3_policy.py`, `metaworld/envs/sawyer_shelf_place_v3.py` - Upstream contribution rules: https://github.com/Farama-Foundation/Metaworld ## Find, inspect, prepare ```sh python /PATH_TO_SKILL/scripts/rsh.py find "simulation" --runtime metaworld --runtime-version 3.1.1 --robot sawyer --json python /PATH_TO_SKILL/scripts/rsh.py inspect metaworld-sawyer-shelf-place-v3 --json python /PATH_TO_SKILL/scripts/rsh.py prepare metaworld-sawyer-shelf-place-v3 --project ./experiment --expected-source-commit c0dafaf1557f31cad3b96ba2b62462f45638f5a5 --expected-record-version 1.0.0 --plan --json ``` Remove `--plan` to download the checksum-verified pinned source and create an isolated project environment. Preparation returns the remaining configuration. Dependency installation is an explicit `--install-deps` step; it can execute package build hooks. Robot simulation is a separate command returned by prepare, never run by find/inspect. Direct package pins: `metaworld==3.1.1`, `mujoco==3.3.0`, `numpy==1.26.4`, `gymnasium==1.2.0`, `packaging==25.0`. Direct runtime versions are pinned and measured. The receipt retains the complete environment freeze; prepare records the installed environment. System drivers are separate host requirements. Hardware: Linux x86_64; CPU simulation; see retained receipt for the exact host environment. Rendering: Headless. EGL libraries are required for MuJoCo imports; PushT uses SDL dummy video. No interactive display.. External API keys: none. ## Invocation contract Entrypoint: `python run.py`. ```json { "argv": [ "{python}", "{recipe_dir}/run.py", "--source-dir", "{source_dir}", "--example" ], "inputs": { "seed": 0 }, "outputs": { "format": "single JSON object", "payload_selector": "outputs", "schema": { "type": "object", "required": [ "success_window", "native_success", "steps", "control_effort", "hand_movement_m", "native_metrics" ], "properties": { "success_window": { "type": "array", "minItems": 1, "maxItems": 20, "items": { "type": "boolean" } }, "native_success": { "type": "boolean" }, "steps": { "type": "integer", "minimum": 1, "maximum": 500 }, "control_effort": { "type": "number", "minimum": 0, "maximum": 10000 }, "hand_movement_m": { "type": "number", "minimum": 0, "maximum": 10, "x-unit": "m" }, "native_metrics": { "type": "array", "minItems": 0, "maxItems": 32, "items": { "type": "object", "required": [ "name", "value" ], "properties": { "name": { "type": "string", "maxLength": 80 }, "value": { "type": "number", "minimum": -10000, "maximum": 10000 } }, "additionalProperties": false } } }, "additionalProperties": false } } } ``` Success: All declared goal and finite-state checks pass; exit 0 with task_complete. Five consecutive native task-success predicates within 500 dynamic simulation steps. Task-specific success definitions come from the pinned upstream environment; this is not a general manipulation score. Timeout: 180 seconds. Terminate the adapter at the recorded timeout. No physical hardware is opened. Failures: Invalid input or source checksum; Different pinned package version; Unavailable runtime/driver; Goal not reached within bounded steps. ## Actual evidence All 3 frozen cases completed against this exact adapter and source. Reviewer: Hub finite-case Lambda execution harness · 2026-10-20. Commands/checks actually performed: - python tools/verify_runtime_expansion.py --backend metaworld --source-cache SOURCE_CACHE --output OUTPUT Submitted evidence and hub verification remain separate. A schema check, PR creation or merge does not establish task success or publication. ## Reusable fixes Change the runtime expansion manifest/template, regenerate, and rerun all frozen cases. Preserve source/model/checkpoint licenses and distinguish simulation from hardware. # Meta-World Sawyer shelf-place-v3 scripted controller Meta-World Sawyer shelf-place-v3 scripted controller. Bounded, source-pinned simulation with an explicit task contract and retained fixed-case outcomes. Five consecutive native task-success predicates within 500 dynamic simulation steps. Task-specific success definitions come from the pinned upstream environment; this is not a general manipulation score. Source and model terms: MIT. The Hub wrapper is MIT. See the record for input JSON, exact environment, frozen execution receipts and preparation requirements.