# Stompy Robot UID: `stompy` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/stompy/stompy.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/stompy/stompy.py) Quality: C (Conditionally stable, can be significantly improved) Degrees of Freedom: 37 Controllers: `pd_joint_pos`, `pd_joint_delta_pos` ## Visuals and Collision Models
stompy stompy

Visual Meshes


stompy stompy

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)