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Manipulators

The Space Robotics Bench provides a variety of robotic arms for simulating manipulation tasks.

Robotic Arms

Canadarm3 (`canadarm3`)

Franka Emika (`franka`)

Kinova JACO2 — 6 DoF (`kinova_j2n6s`)

Kinova JACO2 — 7 DoF (`kinova_j2n7s`)

Kinova Gen3 — 7 DoF (`kinova_gen3n7`)

SO-ARM100 — 5 DoF (`so_arm100_d5`)

SO-ARM100 — 7 DoF (`so_arm100_d7`)

Unitree Z1 (`unitree_z1`)

UR3 (`ur3`)

UR3e (`ur3e`)

UR5 (`ur5`)

UR5e (`ur5e`)

UR10 (`ur10`)

UR10e (`ur10e`)

UR16e (`ur16e`)

UR20 (`ur20`)

UR30 (`ur30`)

Random UR Manipulator (`random_ur_manipulator`) [Randomized]

End-Effectors

Active End-Effectors

Allegro Hand (`allegro_hand`)

Franka Hand (`franka_hand`)

Kinova Jaco 2 3-Finger Gripper (`kinova300`)

Robotiq Hand-E (`robotiq_hand_e`)

Electric Screwdriver M3 (`electric_screwdriver_m3`)

Electric Screwdriver M5 (`electric_screwdriver_m5`)

Shadow Hand (`shadow_hand`)

SO-ARM100 Gripper (`so_arm100_gripper`)

Passive End-Effectors

Rectangular Scoop (`scoop_rectangular`)

Spherical Scoop (`scoop_spherical`)

Triangular Scoop (`scoop_triangular`)

Manual Screwdriver M3 (`manual_screwdriver_m3`)

Manual Screwdriver M5 (`manual_screwdriver_m5`)