---
title: ManiSkill2
description: "ICLR 2023 SAPIEN suite: 20 task families, 2,000+ objects, 4M+ demo frames. WorldFoundry imports official rollouts — it does not run SAPIEN."
---

ManiSkill2 (ICLR 2023, UC San Diego Hao Su Lab with Tsinghua) is the **unified Gym** generation of the ManiSkill line: **20** task families, **2,000+** object models, and **4M+** demonstration frames on **SAPIEN**. Families cover stationary and mobile bases, single and dual arms, and rigid plus soft bodies. The same interface exposes point-cloud, RGB-D, and privileged-state observations and several controllers. Official eval reports seen vs unseen assets and configurations. The 2022 challenge used a cloud scorer; that board is not ingested here.

This card is **not** a rename of [ManiSkill](/docs/evaluation/benchmark-hub/maniskill). That hub page tracks the later GPU-parallel `maniskill.ai` importer. Use this page when the export is the ICLR 2023 / ManiSkill2 protocol.

Paper: [ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills](https://arxiv.org/abs/2302.04659). Project: [maniskill2.github.io](https://maniskill2.github.io/). Code: [haosulab/ManiSkill2](https://github.com/haosulab/ManiSkill2) (Apache-2.0). Later trees live on [haosulab/ManiSkill](https://github.com/haosulab/ManiSkill).

WorldFoundry is **official-results only**. You run SAPIEN / ManiSkill2 upstream, then `official-validation` normalizes JSON/CSV rollout summaries. No in-tree simulator, no official policy.

<BenchmarkPageSections id="maniskill2" locale="en" />

## How to run

```bash
worldfoundry-eval zoo benchmark-run \
  --benchmark-id maniskill2 \
  --mode official-validation \
  --official-results-path <official_results.json> \
  --output-dir tmp/maniskill2/official-validation \
  --json
```

Optional `WORLDFOUNDRY_MANISKILL2_ROOT` points at a local ManiSkill2 / SAPIEN root. Default import path: `WORLDFOUNDRY_MANISKILL2_RESULTS_PATH`. Manifest: `worldfoundry/data/benchmarks/tasks/external/maniskill2.yaml`. Outputs: `scorecard.json` (primary `success_rate`), `raw_results.jsonl`, and `evaluation/summary.json`.

[← Benchmark Hub](/docs/evaluation/benchmark-hub)