Getting Started
Environment IDs
Complete list of registered environment IDs in SO101-Nexus.
SO101-Nexus environments are registered with Gymnasium when you import a backend package. You must import the relevant backend before calling gymnasium.make().
import so101_nexus_mujoco # registers MuJoCo envs
import so101_nexus_maniskill # registers ManiSkill envsListing Environments
from so101_nexus_core.env_ids import all_registered_env_ids
for env_id in all_registered_env_ids():
print(env_id)All Registered Environment IDs
The following environment IDs are returned by all_registered_env_ids():
MuJoCo Environments
| Environment ID | Task |
|---|---|
MuJoCoPickLift-v1 | Pick up and lift an object |
MuJoCoPickAndPlace-v1 | Pick up and place an object at a target |
MuJoCoReach-v1 | Reach a target position |
MuJoCoLookAt-v1 | Orient the end-effector toward a target |
MuJoCoMove-v1 | Move the TCP in a cardinal direction |
ManiSkill Environments
| Environment ID | Task | Robot |
|---|---|---|
ManiSkillPickLiftSO100-v1 | Pick up and lift an object | SO-100 |
ManiSkillPickLiftSO101-v1 | Pick up and lift an object | SO-101 |
ManiSkillReachSO100-v1 | Move TCP to a target position | SO-100 |
ManiSkillReachSO101-v1 | Move TCP to a target position | SO-101 |
ManiSkillLookAtSO100-v1 | Orient the end-effector toward a target | SO-100 |
ManiSkillLookAtSO101-v1 | Orient the end-effector toward a target | SO-101 |
ManiSkillMoveSO100-v1 | Move the end-effector in a cardinal direction | SO-100 |
ManiSkillMoveSO101-v1 | Move the end-effector in a cardinal direction | SO-101 |
Additional ManiSkill Environments
The following environments are registered through ManiSkill's @register_env decorator when you import so101_nexus_maniskill. They do not appear in all_registered_env_ids() but are available via gymnasium.make():
| Environment ID | Task | Robot |
|---|---|---|
ManiSkillPickAndPlaceSO100-v1 | Pick and place an object at a target | SO-100 |
ManiSkillPickAndPlaceSO101-v1 | Pick and place an object at a target | SO-101 |