Environments
ManiSkillLookAtSO101-v1
Orient the TCP toward a target object with the SO-101 arm on the ManiSkill backend.
ManiSkillLookAtSO101-v1
Orient the robot's end-effector toward a randomly placed target object using the SO-101 robot arm in ManiSkill.
Overview
| Property | Value |
|---|---|
| Environment ID | ManiSkillLookAtSO101-v1 |
| Backend | ManiSkill |
| Robot | SO-101 |
| Max episode steps | 256 |
| Config class | LookAtConfig |
Observation Space
Default observation includes only joint positions (configurable via observations parameter):
| Component | Class | Dimensions | Description |
|---|---|---|---|
| Joint positions | JointPositions | 6 | Current angle of each robot joint |
Objects
A single CubeObject is placed as the look-at target. The cube is static (kinematic).
Success Condition
The episode succeeds when the angular error between the TCP forward direction and the direction to the target is less than orientation_success_threshold_deg (default 5.73 degrees).
Vectorized Simulation
ManiSkill supports running multiple environment instances in parallel via the num_envs argument.
Example
import gymnasium as gym
import so101_nexus_maniskill
from so101_nexus_core.config import LookAtConfig
env = gym.make("ManiSkillLookAtSO101-v1", obs_mode="state", num_envs=1)