Modular Robots

Modular robots are built from two separate models:

• a manipulator (arm)

• a gripper (hand)

DexSuite mounts the gripper onto the manipulator at build time using an adapter definition (a fixed pose offset).

Quickstart

import dexsuite as ds

env = ds.make(
    "lift",
    manipulator="franka",
    gripper="robotiq",
    arm_control="osc_pose",
    gripper_control="joint_position",
    render_mode="human",
)

obs, info = env.reset()

What happens under the hood

• DexSuite loads the manipulator model (for example franka).

• DexSuite loads the gripper model (for example robotiq).

• DexSuite looks up an adapter for that manipulator+gripper pair.

• The two simulation entities are linked together with a fixed mount.

If an adapter is missing, DexSuite raises a clear error listing which grippers are available for that manipulator.