{
  "$schema": "https://botlandscape.com/worlds.schema.json",
  "schema_version": 1,
  "suites": [
    {
      "id": "maniskill3",
      "label": "ManiSkill 3",
      "kind": "benchmark-suite",
      "atlas_url": "/worlds/maniskill-sources.html",
      "evidence_ids": [
        "maniskill-r1"
      ]
    }
  ],
  "versions": [
    {
      "id": "maniskill3.3.0.1.a4a4f9272ad64b1564035874b605ceb687b63ed8",
      "suite_id": "maniskill3",
      "upstream": {
        "host": "github",
        "owner": "mani-skill",
        "repo": "ManiSkill",
        "ref": "a4a4f9272ad64b1564035874b605ceb687b63ed8",
        "digest": "sha1:a4a4f9272ad64b1564035874b605ceb687b63ed8",
        "url": "https://github.com/mani-skill/ManiSkill/tree/a4a4f9272ad64b1564035874b605ceb687b63ed8"
      },
      "source": {
        "url": "https://github.com/mani-skill/ManiSkill/tree/a4a4f9272ad64b1564035874b605ceb687b63ed8",
        "access": "public",
        "licence": "Apache-2.0 code; CC-BY-NC-4.0 assets"
      },
      "coordinates": {
        "frame": "sapien-world",
        "length_unit": "m",
        "angle_unit": "radian",
        "up_axis": "z"
      },
      "simulator": {
        "name": "SAPIEN / PhysX CUDA",
        "version": "3.0.3"
      },
      "reset": {
        "kind": "gymnasium-reset-seed",
        "notes": "PickCube-v1, Panda, seed 0. Display scene uses the first source HDF5 state; native set_state_dict verifies subsequent frames."
      },
      "spaces": {
        "action": "Seven absolute arm joint targets in radians and one normalized gripper target. Not direct torques.",
        "observation": "Source recording used obs_mode=none. Joint positions/velocities and body poses come from native environment state; no sensor observation stream is invented."
      },
      "evidence_ids": [
        "maniskill-r1"
      ]
    }
  ],
  "robots": [
    {
      "id": "maniskill3.robot.panda",
      "version_id": "maniskill3.3.0.1.a4a4f9272ad64b1564035874b605ceb687b63ed8",
      "key": "panda",
      "label": "Franka Panda \u00b7 ManiSkill model",
      "control": "pos",
      "embodiment": "Seven-axis arm with parallel gripper",
      "not": [
        "Not Franka Research 3",
        "No hardware performance specification is inferred from this model"
      ]
    }
  ],
  "tasks": [
    {
      "id": "maniskill3.pickcube-v1",
      "version_id": "maniskill3.3.0.1.a4a4f9272ad64b1564035874b605ceb687b63ed8",
      "task_key": "PickCube-v1",
      "robot_id": "maniskill3.robot.panda",
      "gym_id": "PickCube-v1",
      "control": "pos",
      "language": "Lift the red cube to the green goal and stop moving",
      "qpos0_robots": [
        "panda"
      ],
      "kwargs": {
        "seed": 0,
        "control_mode": "pd_joint_pos",
        "action": "Seven absolute arm joint targets (radians), one normalized gripper target",
        "scene_family": "pickcube-table-panda-seed0"
      },
      "default_model_path": "/worlds/maniskill/scenes/pickcube.scene.json",
      "scene_id": "maniskill3.scene.pickcube.seed0",
      "preview_id": null,
      "capabilities": {
        "catalogue": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "preview": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "replay": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "run": {
          "supported": false,
          "evidence_ids": [],
          "reasons": [
            "The browser replays recorded state; it does not execute SAPIEN physics."
          ]
        },
        "reproduced": {
          "supported": false,
          "evidence_ids": [],
          "reasons": [
            "No in-budget evaluation success or learned checkpoint result is claimed."
          ]
        }
      },
      "assembly": {
        "status": "supported",
        "reasons": [],
        "visibility_policy": "sapien-native-visuals",
        "entrypoint": "/worlds/maniskill/scenes/pickcube.scene.json"
      },
      "success": {
        "kind": "source-parsed",
        "notes": "Cube within 0.025 m of goal and robot joint velocity below 0.2. This recording first succeeds after the 50-step task horizon."
      }
    }
  ],
  "scenes": [
    {
      "id": "maniskill3.scene.pickcube.seed0",
      "version_id": "maniskill3.3.0.1.a4a4f9272ad64b1564035874b605ceb687b63ed8",
      "kind": "recorded-demonstration-scene",
      "label": "Cube pickup",
      "asset_ids": [
        "maniskill3.asset.pickcube-scene"
      ],
      "permalink": "/#maniskill3-pickcube",
      "task_ids": [
        "maniskill3.pickcube-v1"
      ],
      "capabilities": {
        "catalogue": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "preview": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "replay": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "run": {
          "supported": false,
          "evidence_ids": [],
          "reasons": [
            "The browser replays recorded state; it does not execute SAPIEN physics."
          ]
        },
        "reproduced": {
          "supported": false,
          "evidence_ids": [],
          "reasons": [
            "No in-budget evaluation success or learned checkpoint result is claimed."
          ]
        }
      },
      "parser": {
        "visual_geoms": 15,
        "driven_joints": 9,
        "unsupported": []
      }
    }
  ],
  "assets": [
    {
      "id": "maniskill3.asset.pickcube-scene",
      "version_id": "maniskill3.3.0.1.a4a4f9272ad64b1564035874b605ceb687b63ed8",
      "kind": "json-metadata",
      "path": "worlds/maniskill/scenes/pickcube.scene.json",
      "source_url": "https://github.com/mani-skill/ManiSkill/tree/a4a4f9272ad64b1564035874b605ceb687b63ed8",
      "licence": "CC-BY-NC-4.0 assets; Apache-2.0 source",
      "access": "public",
      "digest": {
        "alg": "sha256",
        "hex": "a894c850f2c85fa6c8d7cf08e53f0a7b32452eace0972e5bf96719557397d995"
      }
    }
  ],
  "episodes": [
    {
      "id": "maniskill3.pickcube-v1.motionplanning.seed0",
      "version_id": "maniskill3.3.0.1.a4a4f9272ad64b1564035874b605ceb687b63ed8",
      "task_id": "maniskill3.pickcube-v1",
      "robot_id": "maniskill3.robot.panda",
      "scene_id": "maniskill3.scene.pickcube.seed0",
      "kind": "recorded-rollout",
      "origin": "site-generated",
      "manifest_path": "worlds/episodes/maniskill3.pickcube-v1.motionplanning.seed0.json",
      "digest": {
        "alg": "sha256",
        "hex": "165a0fa0582509914d8be85c0f2ec6fb296de6e5871410cc064fcc703e8733b3"
      },
      "capabilities": {
        "catalogue": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "preview": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "replay": {
          "supported": true,
          "evidence_ids": [
            "maniskill-r1"
          ],
          "reasons": []
        },
        "run": {
          "supported": false,
          "evidence_ids": [],
          "reasons": [
            "The browser replays recorded state; it does not execute SAPIEN physics."
          ]
        },
        "reproduced": {
          "supported": false,
          "evidence_ids": [],
          "reasons": [
            "No in-budget evaluation success or learned checkpoint result is claimed."
          ]
        }
      },
      "notes": "Late-completion motion-planning demonstration. No in-budget success credit."
    }
  ],
  "checkpoints": [],
  "results": [],
  "inventory": {
    "declared_registrations": 1,
    "task_identifiers": 1,
    "robot_identifiers": 1,
    "resolvable_scene_entrypoints": 1,
    "bound_registrations": 1,
    "browser_previews": 1,
    "natively_verified_tasks": 0,
    "complete_world_assemblies": 1,
    "partial_world_assemblies": 0,
    "blocked_world_assemblies": 0,
    "notes": "One native scene and recorded demonstration are bound here, not the full ManiSkill suite. Native transform validation is not a successful task evaluation. ManiSkill2 remains a separate historical benchmark."
  }
}