Environment IDs

SO101-Nexus environments are registered with Gymnasium when you import a backend module. Import so101_nexus.mujoco for the single-environment MuJoCo tasks and so101_nexus.warp for the GPU-parallel batched tasks before calling gymnasium.make() or gymnasium.make_vec().

import so101_nexus.mujoco  # registers MuJoCo envs
import so101_nexus.warp    # registers Warp envs (requires so101-nexus[warp])

Listing Environments

from so101_nexus.env_ids import all_registered_env_ids

for env_id in all_registered_env_ids():
    print(env_id)

All Registered Environment IDs

all_registered_env_ids() returns the IDs for whichever backends you have imported. With the MuJoCo backend imported it returns the five MuJoCo IDs:

Warp Environment IDs

The Warp backend registers five batched vector environments. Import so101_nexus.warp (from so101-nexus[warp]) and create them with gymnasium.make_vec():

import gymnasium as gym
import so101_nexus.warp  # noqa: F401

envs = gym.make_vec("WarpTouch-v1", num_envs=4096, device="cuda")