# XArm7 Ability Robot UID: `xarm7_ability` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/xarm/xarm7_ability.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/xarm/xarm7_ability.py) Quality: A (Values are realistic, but have not been properly identified) Degrees of Freedom: 17 Controllers: `pd_joint_delta_pos`, `pd_joint_pos`, `pd_ee_delta_pose`, `pd_ee_target_delta_pose` ## Visuals and Collision Models
xarm7_ability xarm7_ability

Visual Meshes


xarm7_ability xarm7_ability

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