# Trifinger Pro Robot UID: `trifingerpro` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/trifingerpro/trifingerpro.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/trifingerpro/trifingerpro.py) Quality: B (Stable, but some values are unrealistic) Degrees of Freedom: 9 Controllers: `pd_joint_delta_pos`, `pd_joint_pos`, `pd_joint_target_delta_pos`, `pd_joint_vel`, `pd_joint_pos_vel`, `pd_joint_delta_pos_vel` ## Visuals and Collision Models
trifingerpro trifingerpro

Visual Meshes


trifingerpro trifingerpro

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