All 52 built-in robot configurations, organized by manufacturer.
Config Name Model DOF IK Solver Notes
ur3eUR3e 6 OPW Compact tabletop arm ur5eUR5e 6 OPW Most popular UR model ur10eUR10e 6 OPW Long reach (1300mm) ur16eUR16e 6 OPW Heavy payload (16kg) ur20UR20 6 OPW Next-gen 20kg payload ur30UR30 6 OPW Next-gen 30kg payload
Config Name Model DOF IK Solver Notes
franka_pandaPanda 7 DLS Research-grade, torque sensing
Config Name Model DOF IK Solver Notes
kuka_iiwa7LBR iiwa 7 7 DLS 7-DOF collaborative kuka_iiwa14LBR iiwa 14 7 DLS 14kg payload variant kuka_kr6KR 6 6 OPW Industrial 6kg
Config Name Model DOF IK Solver Notes
abb_irb1200IRB 1200 6 OPW Compact industrial abb_irb4600IRB 4600 6 OPW High payload industrial abb_yumi_leftYuMi (left) 7 DLS Dual-arm collaborative abb_yumi_rightYuMi (right) 7 DLS Dual-arm collaborative
Config Name Model DOF IK Solver Notes
fanuc_crx10iaCRX-10iA 6 OPW Collaborative fanuc_lr_mate_200idLR Mate 200iD 6 OPW Compact industrial
Config Name Model DOF IK Solver Notes
yaskawa_gp7GP7 6 OPW General purpose yaskawa_hc10HC10 6 OPW Collaborative 10kg
Config Name Model DOF IK Solver Notes
xarm5xArm 5 5 DLS 5-DOF variant xarm6xArm 6 6 OPW 6-DOF variant xarm7xArm 7 7 DLS 7-DOF redundant
Config Name Model DOF IK Solver Notes
kinova_gen3Gen3 7 DLS 7-DOF research arm kinova_gen3_liteGen3 Lite 6 DLS 6-DOF lightweight jaco2_6dofJaco2 6 DLS Assistive robotics
Config Name Model DOF IK Solver Notes
trossen_px100PincherX 100 4 DLS Budget tabletop trossen_rx150ReactorX 150 5 DLS Mid-range trossen_wx250sWidowX 250s 6 OPW Research platform viperx_300ViperX 300 6 OPW 6-DOF research widowx_250WidowX 250 6 OPW Research platform
Config Name Model DOF IK Solver Notes
aloha_leftALOHA (left) 6 OPW Bimanual teleop aloha_rightALOHA (right) 6 OPW Bimanual teleop koch_v1Koch v1 6 OPW Open-source arm lerobot_so100LeRobot SO-100 6 DLS AI training arm so_arm100SO-ARM100 5 DLS Compact research open_manipulator_xOpenMANIPULATOR-X 4 DLS ROBOTIS, 4-DOF robotis_open_manipulator_pOpenMANIPULATOR-P 6 OPW ROBOTIS, 6-DOF mycobot_280myCobot 280 6 OPW Elephant Robotics
Config Name Model DOF IK Solver Notes
baxter_leftBaxter (left) 7 DLS Dual-arm research baxter_rightBaxter (right) 7 DLS Dual-arm research sawyerSawyer 7 DLS Single-arm research
Config Name Model DOF IK Solver Notes
denso_vs068Denso VS068 6 OPW Compact industrial dobot_cr5Dobot CR5 6 OPW Collaborative elite_ec66Elite EC66 6 OPW Collaborative flexiv_rizon4Flexiv Rizon 4 7 DLS Force-controlled meca500Mecademic Meca500 6 OPW Micro industrial niryo_ned2Niryo Ned2 6 OPW Education staubli_tx260Staubli TX2-60 6 OPW High-speed techman_tm5_700Techman TM5-700 6 OPW Collaborative with vision
Config Name Model DOF IK Solver Notes
fetchFetch 8 DLS Mobile base + 7-DOF arm pr2PR2 8 DLS Willow Garage dual-arm stretch_re2Stretch RE2 5 DLS Hello Robot, mobile tiagoTIAGo 8 DLS PAL Robotics mobile
#![allow(unused)]
fn main() {
use kinetic::prelude::*;
// Load any robot by config name
let robot = Robot::from_name("ur5e")?;
// Check available named poses
if let Some(joints) = robot.named_pose("home") {
println!("Home: {:?}", joints);
}
} See the Custom Robots guide for step-by-step instructions on adding a new
robot configuration. Contributions are welcome via pull request.