# Robots in RoboVerse

## Scenes

RoboVerse currently includes some robots.

| Robot Name | Category | Number of DoFs | Config Name |
| ------ | --------- | ---------------- | ------------ |
| Fetch  | Wheeled | 14 | fetch |
| Franka | Arm | 9 | franka |
| Franka Slide | Arm with moving base | 11 | franka_slide |
| Google Robot | Arm | 11 | google_robot_static |
| H1 | Humanoid | 19 | h1 |
| H1 Hand | Humanoid with dexterous hand | 69 | h1_hand |
| H1 Simple Hand | Humanoid with simple hand | 45 | h1_smple_hand |
| IIWA | Arm | 9 | iiwa |
| Sawyer | Arm | 10 | sawyer |
| Sawyer Mujoco | Arm | 9 | sawyer_mujoco |
| UR5e | Arm | 6 | ur5e_2f85 |
| Walker | Bipedal | 6 | walker |
| Ant | Quadreuped | 12 | ant |