Available Robots

This page lists the manipulators and grippers available by default in DexSuite.

Use these keys with ds.make(...):

• manipulator="<key>" selects a manipulator model.

• gripper="<key>" selects a gripper model (for modular manipulators).

Manipulators (arm-only, modular)

Name (Key)	Image	Notes	DoF
franka		Franka Emika Panda arm (requires a separate gripper).	7
franka_fr3		Franka Emika FR3 arm (requires a separate gripper).	7
gen3		Kinova Gen3 arm (requires a separate gripper).	7
kuka		Kuka LBR iiwa 14 arm (requires a separate gripper).	7
link6		Link6 arm (requires a separate gripper).	6
ur10		Universal Robots UR10e arm (requires a separate gripper).	6
ur5		Universal Robots UR5e arm (requires a separate gripper).	6

Manipulators (integrated gripper)

Name (Key)	Image	Notes	DoF
franka_with_gripper		Franka Panda with built-in parallel gripper.	9
gen3_lite		Kinova Gen3 Lite with built-in gripper.	7
so_100		SO Arm 100 with rotary single-jaw gripper.	6
trossen_wx250s		Trossen WX250S with built-in gripper.	7
trossen_vx300s		Trossen VX300S with built-in gripper.	7

Default Modular Grippers

Name (Key)	Image	Notes	DoF
ability		Ability hand gripper.	6
allegro		Allegro hand gripper (right by default).	16
barrett		Barrett hand gripper.	8
dclaw		D claw gripper.	9
inspire		Inspire right hand gripper.	6
leap		Leap hand gripper (right by default).	16
robotiq		Robotiq 2F-85 parallel gripper.	1
schunk		Schunk SVH right hand gripper.	9
shadow		Shadow Hand gripper (right by default).	24
umi		Umi gripper.	1

Handed Variants

Some grippers provide explicit left/right keys:

• allegro_left / allegro_right

• leap_left / leap_right

• shadow_left / shadow_right