Robot Arms & Manipulators

Serial-link robot arms registered in the Space Robotics Bench. These manipulators are used for dexterous manipulation, assembly, and maintenance tasks across terrestrial and space environments.

Overview

Franka

Franka (`franka`)

7-DoF torque-controlled research arm from Franka Robotics

franka franka


DoF	7
End Effector	FrankaHand
Base Frame	`panda_link0`
Flange Frame	`panda_link7`
Sensors	3
Action Modes	5 (default: `diff_ik`)
Source	SRB

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	7	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
panda_shoulder	`panda_joint[1-4]`	87 N·m	2.175 rad/s	4000	800
panda_forearm	`panda_joint[5-7]`	12 N·m	2.61 rad/s	4000	800

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`panda_link0/camera_base`
cam_wrist	Camera	`panda_link7/camera_wrist`

Initial Joint Configuration

Joint	Position
panda_joint1	0.0 rad
panda_joint2	0.0 rad
panda_joint3	0.0 rad
panda_joint4	-1.570796 rad (-90 deg)
panda_joint5	0.0 rad
panda_joint6	1.570796 rad (90 deg)
panda_joint7	0.785398 rad (45 deg)

Kinova

Kinova Gen3N7 (`kinova_gen3n7`)

7-DoF lightweight research arm from Kinova Robotics

kinova_gen3n7


DoF	7
End Effector	None
Base Frame	`base_link`
Flange Frame	`end_effector_link`
Sensors	3
Action Modes	6 (default: `diff_ik`)
Source	Isaac Lab

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`smooth_osc`	Smooth Operational Space Controller	6	pos=0.1, ori=0.1
`joint_pos_rel`	Relative Joint Position	7	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`joint_[1-7]`	2340 N·m	10 rad/s	500	200

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`end_effector_link/camera_wrist`

Initial Joint Configuration

Joint	Position
joint_1	0.0 rad
joint_2	0.785398 rad (45 deg)
joint_3	0.0 rad
joint_4	0.785398 rad (45 deg)
joint_5	0.0 rad
joint_6	1.570796 rad (90 deg)
joint_7	0.0 rad

Kinova J2N6S (`kinova_j2n6s`)

kinova_j2n6s


DoF	6
End Effector	Kinova300
Base Frame	`j2n6s_link_base`
Flange Frame	`j2n6s_link_6`
Sensors	3
Action Modes	2 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`j2n6s_joint_[1-6]`	80 N·m	100 rad/s	4000	1000

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`j2n6s_link_base/camera_base`
cam_wrist	Camera	`j2n6s_link_6/camera_wrist`

Initial Joint Configuration

Joint	Position
j2n6s_joint_1	0.0 rad
j2n6s_joint_2	2.617994 rad (150 deg)
j2n6s_joint_3	5.759587 rad (330 deg)
j2n6s_joint_4	-1.570796 rad (-90 deg)
j2n6s_joint_5	0.0 rad
j2n6s_joint_6	0.0 rad

Kinova J2N7S (`kinova_j2n7s`)

kinova_j2n7s


DoF	7
End Effector	Kinova300
Base Frame	`j2n7s_link_base`
Flange Frame	`j2n7s_link_7`
Sensors	3
Action Modes	2 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`joint_pos_rel`	Relative Joint Position	7	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`j2n7s_joint_[1-7]`	80 N·m	100 rad/s	4000	1000

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`j2n7s_link_base/camera_base`
cam_wrist	Camera	`j2n7s_link_7/camera_wrist`

Initial Joint Configuration

Joint	Position
j2n7s_joint_1	0.0 rad
j2n7s_joint_2	2.617994 rad (150 deg)
j2n7s_joint_3	0.0 rad
j2n7s_joint_4	0.523599 rad (30 deg)
j2n7s_joint_5	1.570796 rad (90 deg)
j2n7s_joint_6	0.0 rad
j2n7s_joint_7	0.0 rad

Multi-Arm

Levion Arms (`levion_arms`)

levion_arms


DoF	4
End Effector	None
Base Frame	`base_link`
Flange Frame	–
Sensors	0
Action Modes	default: `dual_arm_joint_pos_abs`

Action Modes

Mode	Controller	Dims	Scale
`dual_arm_joint_pos_abs` *	Joint Position To Limits	4	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
left_arm	`left_shoulder_joint`, `left_elbow_joint`	15 N·m	–	400	80
right_arm	`right_shoulder_joint`, `right_elbow_joint`	15 N·m	–	400	80

Initial Joint Configuration

Joint	Position
right_elbow_joint	0.4 rad (22.918312 deg)
left_elbow_joint	-0.4 rad (-22.918312 deg)

Zeroglab Arms (`zeroglab_arms`)

zeroglab_arms


DoF	7
End Effector	None
Base Frame	`_virtual_world`
Flange Frame	–
Sensors	0
Action Modes	default: `dual_arm_osc`

Action Modes

Mode	Controller	Dims	Scale
`dual_arm_osc` *	Operational Space Controller	24	arm_ceiling: pos=0.1, ori=0.1, stiffness=120.0, arm_wall: pos=0.1, ori=0.1, stiffness=120.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
rail	`rail_joint`	400 N·m	0.2 rad/s	3000	2500
arm	`.shoulder.`, `.elbow.`, `.wrist.`	87 N·m	100 rad/s	800	40

Initial Joint Configuration

Joint	Position
rail_joint	2 rad (114.591559 deg)
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Other

Random Ur Manipulator (`random_ur_manipulator`)

random_ur_manipulator


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur10 (`ur10`)

Heavy-duty collaborative arm from Universal Robots

ur10 ur10


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`ee_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)
Source	Isaac Lab

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`ee_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur10E (`ur10e`)

ur10e ur10e


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur16E (`ur16e`)

ur16e ur16e


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur20 (`ur20`)

ur20 ur20


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur3 (`ur3`)

Compact collaborative robot arm from Universal Robots

ur3 ur3


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)
Source	Isaac Lab

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur30 (`ur30`)

ur30 ur30


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur3E (`ur3e`)

ur3e ur3e


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur5 (`ur5`)

Versatile mid-range collaborative arm from Universal Robots

ur5 ur5


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)
Source	Isaac Lab

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

Ur5E (`ur5e`)

ur5e ur5e


DoF	6
End Effector	None
Base Frame	`base_link`
Flange Frame	`wrist_3_link`
Sensors	3
Action Modes	5 (default: `diff_ik`)

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`osc_fixed`	Operational Space Controller	6	pos=0.1, ori=0.1
`osc_var_stiffness`	Operational Space Controller	12	pos=0.1, ori=0.1, stiffness=120.0
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`base_link/camera_base`
cam_wrist	Camera	`wrist_3_link/camera_wrist`

Initial Joint Configuration

Joint	Position
shoulder_pan_joint	0.0 rad
shoulder_lift_joint	-1.570796 rad (-90 deg)
elbow_joint	1.570796 rad (90 deg)
wrist_1_joint	-1.570796 rad (-90 deg)
wrist_2_joint	-1.570796 rad (-90 deg)
wrist_3_joint	-1.570796 rad (-90 deg)

SO-ARM100

So Arm100 D5 (`so_arm100_d5`)

5-DoF low-cost open-source motor-driven arm

so_arm100_d5


DoF	5
End Effector	SOArm100Gripper
Base Frame	`Base`
Flange Frame	`Fixed_Gripper`
Sensors	3
Action Modes	3 (default: `diff_ik`)
Source	SRB

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.05
`osc_var_stiffness`	Operational Space Controller	12	pos=0.05, ori=0.05, stiffness=120.0
`joint_pos_rel`	Relative Joint Position	5	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	10 N·m	10 rad/s	100	20

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`Base/camera_base`
cam_wrist	Camera	`Fixed_Gripper/camera_wrist`

Initial Joint Configuration

Joint	Position
Shoulder_Rotation	0.0 rad
Shoulder_Pitch	-0.261799 rad (-15 deg)
Elbow	0.349066 rad (20 deg)
Wrist_Pitch	0.087266 rad (5 deg)
Wrist_Roll	0.0 rad

So Arm100 D7 (`so_arm100_d7`)

7-DoF low-cost open-source motor-driven arm

so_arm100_d7


DoF	7
End Effector	None
Base Frame	`Base`
Flange Frame	`End_Servo`
Sensors	3
Action Modes	2 (default: `diff_ik`)
Source	SRB

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.05
`joint_pos_rel`	Relative Joint Position	7	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	10 N·m	10 rad/s	100	20

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`Base/camera_base`
cam_wrist	Camera	`End_Servo/camera_wrist`

Initial Joint Configuration

Joint	Position
Shoulder_Pitch	2.094395 rad (120 deg)
Shoulder_Yaw	0.0 rad
Humeral_Rotation	0.0 rad
Elbow	-1.570796 rad (-90 deg)
Wrist_Roll	0.0 rad
Wrist_Yaw	0.0 rad
Wrist_Pitch	-1.570796 rad (-90 deg)

Space

Canadarm3 (`canadarm3`)

Large-scale space manipulator for the Lunar Gateway station

canadarm3


DoF	7
End Effector	None
Base Frame	`canadarm3_large_0`
Flange Frame	`canadarm3_large_7`
Sensors	3
Action Modes	2 (default: `diff_ik`)
Source	SRB

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.1
`joint_pos_rel`	Relative Joint Position	7	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
joints	`canadarm3_large_joint_[1-7]`	2500 N·m	5 rad/s	40000	25000

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`canadarm3_large_0/camera_base`
cam_wrist	Camera	`canadarm3_large_7/camera_wrist`

Initial Joint Configuration

Joint	Position
canadarm3_large_joint_1	0.872665 rad (50 deg)
canadarm3_large_joint_2	0.0 rad
canadarm3_large_joint_3	0.959931 rad (55 deg)
canadarm3_large_joint_4	1.308997 rad (75 deg)
canadarm3_large_joint_5	-0.523599 rad (-30 deg)
canadarm3_large_joint_6	0.0 rad
canadarm3_large_joint_7	0.0 rad

Vispa (`vispa`)

Space manipulator designed for planetary surface operations

vispa vispa


DoF	6
End Effector	None
Base Frame	`link0`
Flange Frame	`link6`
Sensors	3
Action Modes	3 (default: `diff_ik`)
Source	SRB

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.05
`osc_var_full`	Operational Space Controller	18	pos=0.1, ori=0.1, stiffness=120.0, damping=1.0
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
joints	`joint[1-6]`	500 N·m	5 rad/s	2500	500

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`link0/camera_base`
cam_wrist	Camera	`link6/camera_wrist`

Initial Joint Configuration

Joint	Position
joint1	0.0 rad
joint2	-0.523599 rad (-30 deg)
joint3	2.094395 rad (120 deg)
joint4	0.0 rad
joint5	1.570796 rad (90 deg)
joint6	0.0 rad

Unitree

Unitree Z1 (`unitree_z1`)

Compact lightweight arm from Unitree Robotics

unitree_z1


DoF	6
End Effector	None
Base Frame	`link00`
Flange Frame	`link06`
Sensors	3
Action Modes	2 (default: `diff_ik`)
Source	SRB

Action Modes

Mode	Controller	Dims	Scale
`diff_ik` *	Differential Inverse Kinematics	6	0.05
`joint_pos_rel`	Relative Joint Position	6	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
arm	`.*`	87 N·m	100 rad/s	800	40

Sensors

Name	Type	Location
contacts_robot	Contact Sensor	`.*`
cam_base	Camera	`link00/camera_base`
cam_wrist	Camera	`link06/camera_wrist`

Initial Joint Configuration

Joint	Position
joint1	0.0 rad
joint2	1.570796 rad (90 deg)
joint3	-0.785398 rad (-45 deg)
joint4	0.785398 rad (45 deg)
joint5	0.0 rad
joint6	0.0 rad

Keyboard shortcuts

Space Robotics Bench