# XArm6 with Robotiq Gripper Robot UID: `xarm6_robotiq` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/xarm6/xarm6_robotiq.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/xarm6/xarm6_robotiq.py) Quality: A (Values are realistic, but have not been properly identified) Degrees of Freedom: 12 Controllers: `pd_joint_delta_pos`, `pd_joint_pos`, `pd_ee_delta_pos`, `pd_ee_delta_pose`, `pd_ee_pose`, `pd_joint_target_delta_pos`, `pd_ee_target_delta_pos`, `pd_ee_target_delta_pose`, `pd_joint_vel`, `pd_joint_pos_vel`, `pd_joint_delta_pos_vel` ## Visuals and Collision Models
xarm6_robotiq xarm6_robotiq

Visual Meshes


xarm6_robotiq xarm6_robotiq

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