Implementation:Haosulab ManiSkill Koch

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Manipulation
Last Updated	2026-02-15 08:00 GMT

Overview

Concrete tool for simulating the Koch v1.1 robot arm in ManiSkill environments.

Description

The Koch is a 6-DOF low-cost robot arm with 5 arm joints and 1 gripper joint. The arm uses per-joint tuned PD gains for delta position control (stiffness=[123, 50, 102.68, 145, 108.37, 93.3], damping=[15.85, 6, 15.34, 16, 16.31, 16.3]). Gripper materials use moderate friction (static=0.3, dynamic=0.3). The robot supports customizable chassis and motor colors via RGBA parameters, allowing different visual appearances per parallel environment. After loading, the robot identifies finger links (gripper, link_6) and TCP links for grasp computation. Provides grasping detection and static checking methods.

uid: koch-v1.1

URDF path: {PACKAGE_ASSET_DIR}/robots/koch/follower_arm_v1.1.urdf

Supported control modes: pd_joint_delta_pos, pd_joint_pos, pd_joint_target_delta_pos

Usage

Use Koch for low-cost robot arm manipulation tasks, especially those targeting sim-to-real transfer to the real Koch hardware. Suitable for pick-and-place, pushing, and basic manipulation demonstrations with the Koch follower arm.

Code Reference

Source Location

• Repository: Haosulab_ManiSkill
• File: mani_skill/agents/robots/koch/koch.py

Signature

@register_agent()
class Koch(BaseAgent):
    uid = "koch-v1.1"
    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/koch/follower_arm_v1.1.urdf"
    keyframes = dict(
        rest=Keyframe(qpos=np.array([0, 2.2, 3.017, -0.25, 0, 0.6044]), ...),
        elevated_turn=Keyframe(...),
        zero=Keyframe(...),
    )

Import

from mani_skill.agents.robots.koch.koch import Koch

I/O Contract

Inputs

Name	Type	Required	Description
(inherited from BaseAgent)
robot_chassis_colors	list	No	RGBA color(s) for chassis appearance (default [0.95, 0.95, 0.95, 1])
robot_motor_colors	list	No	RGBA color(s) for motor appearance (default [0.05, 0.05, 0.05, 1])

Outputs

Name	Type	Description
robot agent	Koch	Configured 6-DOF arm with per-joint tuned PD controllers and customizable appearance

Usage Examples

Creating Environment with Robot

import gymnasium as gym
import mani_skill.envs

env = gym.make("PickCube-v1", robot_uids="koch-v1.1")
obs, info = env.reset()

Related Pages

• Environment:Haosulab_ManiSkill_Python_SAPIEN_Core