Environments
Environment Reference
Complete reference for all registered simulation environments.
Environment Reference
SO101-Nexus provides Gymnasium-compatible environments across two backends. 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 |
MuJoCoReach-v1 | MuJoCo | Move TCP to target position | 512 |
MuJoCoLookAt-v1 | MuJoCo | Orient TCP toward object | 256 |
MuJoCoMove-v1 | MuJoCo | Move TCP in a direction | 256 |
ManiSkillPickLiftSO100-v1 | ManiSkill | Pick and lift (SO-100 arm) | 1024 |
ManiSkillPickLiftSO101-v1 | ManiSkill | Pick and lift (SO-101 arm) | 1024 |
ManiSkillPickAndPlaceSO100-v1 | ManiSkill | Pick and place (SO-100 arm) | 1024 |
ManiSkillPickAndPlaceSO101-v1 | ManiSkill | Pick and place (SO-101 arm) | 1024 |
ManiSkillReachSO100-v1 | ManiSkill | Move TCP to target position (SO-100 arm) | 512 |
ManiSkillReachSO101-v1 | ManiSkill | Move TCP to target position (SO-101 arm) | 512 |
ManiSkillLookAtSO100-v1 | ManiSkill | Orient TCP toward object (SO-100 arm) | 256 |
ManiSkillLookAtSO101-v1 | ManiSkill | Orient TCP toward object (SO-101 arm) | 256 |
ManiSkillMoveSO100-v1 | ManiSkill | Move TCP in a direction (SO-100 arm) | 256 |
ManiSkillMoveSO101-v1 | ManiSkill | Move TCP in a direction (SO-101 arm) | 256 |
Registration
MuJoCo environments are registered when you import the so101_nexus_mujoco package. ManiSkill environments are registered when you import so101_nexus_maniskill.
import gymnasium as gym
# MuJoCo environments
import so101_nexus_mujoco
env = gym.make("MuJoCoPickLift-v1")
# ManiSkill environments
import so101_nexus_maniskill
env = gym.make("ManiSkillPickLiftSO100-v1")