This sections here show the already built/modelled robots ready for simulation across a number of different categories. Some of them are displayed above in an empty environment using a predefined keyframe. Note that not all of these robots are used in tasks in ManiSkill, and some are not tuned for maximum efficiency yet or for sim2real transfer. You can generally assume robots that are used in existing tasks in ManiSkill are of the highest quality and already tuned.
To learn about how to load your own custom robots see [the tutorial](../user_guide/tutorials/custom_robots.md).
## Robots Table
Table of all robots modelled in ManiSkill. Click the robot's picture to see more details on the robot, including more views, collision models, controllers implemented and more.
A quality rating is also given for each robot which rates the robot on how well modelled it is. It follows the same scale as [Mujoco Menagerie](https://github.com/google-deepmind/mujoco_menagerie?tab=readme-ov-file#model-quality-and-contributing)
| Grade | Description |
|-------|-------------------------------------------------------------|
| A+ | Values are the product of proper system identification |
| A | Values are realistic, but have not been properly identified |
| B | Stable, but some values are unrealistic |
| C | Conditionally stable, can be significantly improved |
Robots that are cannot be stably simulated are not included in ManiSkill at all. Most robots will have a grade of B (essentially does it look normal in simulation). While some robots may have grades of A/A+ we still strongly recommend you perform your own system ID as each robot might be a bit different.
Anymal C
Quality: B
Allegro Hand Left
Quality: B
Allegro Hand Right
Quality: B
Allegro Hand Right with Touch Sensing
Quality: B
D'Claw
Quality: B
Fetch Mobile Manipulator
Quality: B
Fixed Inspire Hand Left
Quality: B
Fixed Inspire Hand Right
Quality: B
Floating Inspire Hand Left
Quality: B
Floating Inspire Hand Right
Quality: B
Floating Panda Gripper
Quality: B
Floating Robotiq 2F-85 Gripper
Quality: C
Google Robot
Quality: B
Mujoco Humanoid
Quality: A
Koch v1.1 Arm
Quality: A
Franka Emika Panda
Quality: A
Franka Emika Panda Arm with Stick Tool
Quality: A
Franka Emika Panda with Wrist Camera
Quality: A
Standard Open Arm 100 (SO100)
Quality: A
Stompy
Quality: C
Trifinger Pro
Quality: B
UR10e
Quality: B
Unitree G1
Quality: B
Unitree G1 Simplified Legs
Quality: B
Unitree G1 Simplified Upper Body
Quality: B
Unitree Go2
Quality: B
Unitree H1
Quality: B
Unitree H1 Simplified Legs
Quality: B
WidowX 250S
Quality: B
WidowX AI
Quality: B
WidowX AI with wrist camera
Quality: B
XArm6 with No Gripper
Quality: A
XArm6 with Robotiq Gripper
Quality: A
XArm6 with Robotiq Gripper and Wrist Camera
Quality: A
XArm7 Ability
Quality: A