# D'Claw Robot UID: `dclaw` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/dclaw/dclaw.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/dclaw/dclaw.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` ## Visuals and Collision Models
dclaw dclaw

Visual Meshes


dclaw dclaw

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