Robot Skill Hub by Superfast Robotics

Sawyer cube grasp and lift

Sawyer cube grasp and lift. Source-pinned, bounded simulation with explicit goal checks; no physical execution.

robosuite-sawyer-lift | Record version: 1.0.0

Record JSON | Markdown recipe | Complete search index

Fetch and prepare

curl -fsSL https://hub.superfastrobotics.com/skills/robosuite-sawyer-lift/skill.json
curl -fsSL https://hub.superfastrobotics.com/skills/robosuite-sawyer-lift/README.md
python /PATH_TO_SKILL/scripts/rsh.py inspect robosuite-sawyer-lift --json
python /PATH_TO_SKILL/scripts/rsh.py prepare robosuite-sawyer-lift --project ./experiment --expected-source-commit 824ac14cefcfb7ec125fe5eb2e0bad7364466154 --expected-record-version 1.0.0 --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
robosuite 1.5.2
Robot
Sawyer
Controller
OSC_POSE
Observation
privileged_state
OS / architecture
linux / x86_64
Python
>=3.10,<3.11

Compatibility status: hub_verified

Privileged simulator state and declared goals; no perception or real sensor validation.

Requirements

Headless. EGL libraries are required for MuJoCo imports; PushT uses SDL dummy video. No interactive display.

Packages: robosuite==1.5.2, mujoco==3.3.7, numpy==1.26.4

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. Linux device dependencies may build evdev from source; an available C compiler and explicit dependency-install permission are required.

External API keys: none.

Invocation

Executable interface

{
  "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",
      "lift_height_m"
    ],
    "properties": {
      "seed": {
        "type": "integer",
        "minimum": 0,
        "maximum": 10000
      },
      "lift_height_m": {
        "type": "number",
        "minimum": 0.1,
        "maximum": 0.3,
        "x-unit": "m"
      }
    },
    "additionalProperties": false
  },
  "output_schema": {
    "type": "object",
    "required": [
      "cube_lift_m",
      "cube_xyz_m",
      "environment_success"
    ],
    "properties": {
      "cube_lift_m": {
        "type": "number",
        "minimum": -5,
        "maximum": 5,
        "x-unit": "m"
      },
      "cube_xyz_m": {
        "type": "array",
        "minItems": 3,
        "maxItems": 3,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "m",
        "x-frame": "right_handed_world_xyz; +z_up",
        "x-order": [
          "x",
          "y",
          "z"
        ]
      },
      "environment_success": {
        "type": "boolean"
      }
    },
    "additionalProperties": false
  },
  "preconditions": [
    "Use the exact recorded source, Linux Python 3.10 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
  }
}

Entrypoint: python run.py

{
  "argv": [
    "{python}",
    "{recipe_dir}/run.py",
    "--source-dir",
    "{source_dir}",
    "--example"
  ],
  "inputs": {
    "seed": 0,
    "lift_height_m": 0.18
  },
  "outputs": {
    "format": "single JSON object",
    "payload_selector": "outputs",
    "schema": {
      "type": "object",
      "required": [
        "cube_lift_m",
        "cube_xyz_m",
        "environment_success"
      ],
      "properties": {
        "cube_lift_m": {
          "type": "number",
          "minimum": -5,
          "maximum": 5,
          "x-unit": "m"
        },
        "cube_xyz_m": {
          "type": "array",
          "minItems": 3,
          "maxItems": 3,
          "items": {
            "type": "number",
            "minimum": -10,
            "maximum": 10
          },
          "x-unit": "m",
          "x-frame": "right_handed_world_xyz; +z_up",
          "x-order": [
            "x",
            "y",
            "z"
          ]
        },
        "environment_success": {
          "type": "boolean"
        }
      },
      "additionalProperties": false
    }
  }
}

Success: All declared goal and finite-state checks pass; exit 0 with task_complete. Operational-space feedback; Native Lift success AND cube lift >0.07 m. No object teleportation or state-setting after reset.

Timeout: 180 seconds. Terminate the adapter at the recorded timeout. No physical hardware is opened.

Failure modes

Source and license

Repository
https://github.com/ARISE-Initiative/robosuite
Authors
Original robosuite contributors (preserve pinned LICENSE)
Commit
824ac14cefcfb7ec125fe5eb2e0bad7364466154
Archive SHA256
b0c9011b1a90e5faf3404e22694cb44eea012728f568dd9bccc8fde6063ab903
License
MIT
Hub commit
b0414668be840daa6a6210723c298b31d6dd6d8c

Evidence

Runtime: task_complete / task_complete

All 3 frozen cases completed against this exact adapter and source.

Reviewer: Hub finite-case Lambda execution harness | 2026-10-20

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