Environments
Environment Reference
Complete reference for all registered simulation environments.
Environment Reference
SO101-Nexus provides Gymnasium-compatible MuJoCo environments for the SO-101 arm. Each environment is registered with a unique ID and can be created with gym.make().
All Environments
| ID | Backend | Task | Max Steps |
|---|---|---|---|
MuJoCoPickLift-v1 | MuJoCo | Pick and lift an object | 1024 |
MuJoCoPickAndPlace-v1 | MuJoCo | Pick a cube and place on target | 1024 |
MuJoCoTouch-v1 | MuJoCo | Touch an object on the table | 512 |
MuJoCoLookAt-v1 | MuJoCo | Orient TCP toward object | 256 |
MuJoCoMove-v1 | MuJoCo | Move TCP in a direction | 256 |
Registration
MuJoCo environments are registered when you import so101_nexus.mujoco.
import gymnasium as gym
import so101_nexus.mujoco
env = gym.make("MuJoCoPickLift-v1")