---

name: environments description: "Create, configure, step, validate, and wrap standardized robosuite manipulation envs." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Environments

Use this sub-skill for standardized robosuite manipulation envs, including suite.make, MujocoEnv, RobotEnv, Lift, TwoArmLift, and the other registered task envs.

Use this sub-skill for

• selecting env_name, robots, env_configuration, and gripper_types
• creating single-arm and two-arm envs
• reading action_spec / action_dim
• choosing use_object_obs vs use_camera_obs
• understanding rewards, horizon, ignore_done, and seed
• using GymWrapper
• running safe random-policy smoke loops

Do not use this sub-skill for

• controller internals and action-vector composition → ../controllers
• rendering backend or pixel troubleshooting → ../rendering
• teleoperation or demo capture → ../teleoperation
• custom env/model creation

Start here

• references/api-reference.md
• references/observations-and-rewards.md
• references/workflows.md
• references/troubleshooting.md

Bundled scripts

• scripts/run_random_policy.py — small random rollout with action/observation summaries
• scripts/gym_wrapper_smoke.py — Lift/Panda GymWrapper smoke step

Notes

• Optional capabilities such as robosuite_models, mink, HID devices, usd-core, Isaac/Omniverse, and on-screen display are environment-dependent.
• Keep the core standardized env workflows working without those optional pieces.

Related sub-skills

• ../controllers
• ../rendering
• ../teleoperation