Environments
ManiSkillMoveSO100-v1
Move the TCP in a cardinal direction with the SO-100 arm on the ManiSkill backend.
ManiSkillMoveSO100-v1
Move the robot's end-effector a fixed distance in a specified cardinal direction using the SO-100 robot arm in ManiSkill.
Overview
| Property | Value |
|---|---|
| Environment ID | ManiSkillMoveSO100-v1 |
| Backend | ManiSkill |
| Robot | SO-100 |
| Max episode steps | 256 |
| Config class | MoveConfig |
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
No graspable objects. The target is a visual-only sphere rendered in the scene.
Success Condition
The episode succeeds when the distance from the TCP to the target is less than success_threshold (default 0.01 m).
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 MoveConfig
# Default direction is "up"
env = gym.make("ManiSkillMoveSO100-v1", obs_mode="state", num_envs=1)
# Custom direction
config = MoveConfig(direction="forward", target_distance=0.15)
env = gym.make("ManiSkillMoveSO100-v1", config=config, obs_mode="state", num_envs=1)