Implementation:Haosulab ManiSkill WidowX250S
| Knowledge Sources | |
|---|---|
| Domains | Robotics, Simulation, Manipulation |
| Last Updated | 2026-02-15 08:00 GMT |
Overview
Concrete tool for simulating the WidowX 250S robot arm in ManiSkill environments.
Description
The WidowX250S is a 6-DOF robot arm with 2 gripper finger joints. The arm joints are: waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate. The gripper has left_finger and right_finger joints. This is a minimal agent definition that does not define its own controller configs or keyframes (relying on BaseAgent defaults). The robot provides finger link references (left_finger_link, right_finger_link) and a grasping detection method. The URDF config is empty, using default materials and collision settings. This is a work-in-progress model with a TODO note about proper real2sim modeling.
uid: widowx250s
URDF path: {ASSET_DIR}/robots/widowx/wx250s.urdf
Supported control modes: (inherited from BaseAgent defaults)
Usage
Use WidowX250S for manipulation tasks targeting the Interbotix WidowX 250S hardware. Suitable for real2sim transfer experiments and basic manipulation research with a low-cost arm platform.
Code Reference
Source Location
- Repository: Haosulab_ManiSkill
- File: mani_skill/agents/robots/widowx/widowx.py
Signature
@register_agent(asset_download_ids=["widowx250s"])
class WidowX250S(BaseAgent):
uid = "widowx250s"
urdf_path = f"{ASSET_DIR}/robots/widowx/wx250s.urdf"
arm_joint_names = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]
gripper_joint_names = ["left_finger", "right_finger"]
Import
from mani_skill.agents.robots.widowx.widowx import WidowX250S
I/O Contract
Inputs
| Name | Type | Required | Description |
|---|---|---|---|
| (inherited from BaseAgent) |
Outputs
| Name | Type | Description |
|---|---|---|
| robot agent | WidowX250S | Configured 6-DOF arm with 2-finger gripper and grasping detection |
Usage Examples
Creating Environment with Robot
import gymnasium as gym
import mani_skill.envs
env = gym.make("PickCube-v1", robot_uids="widowx250s")
obs, info = env.reset()