Integrated Robots

Integrated robots are manipulators that already include a gripper in the same URDF/MJCF asset. In DexSuite, these show up as a manipulator key that has a built-in gripper (for example franka_with_gripper).

DexSuite still exposes a separate gripper controller by creating a small “hand proxy” that points at the gripper joint indices inside the integrated entity.

Quickstart

import dexsuite as ds

env = ds.make(
    "reach",
    manipulator="franka_with_gripper",
    gripper=None,  # integrated gripper
    arm_control="osc_pose",
    gripper_control="joint_position",
    render_mode="human",
)

obs, info = env.reset()

Notes

• For integrated manipulators, you typically set gripper=None (or omit it).

• The total DoF shown on Available Robots includes both the arm and the built-in gripper.