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 |
Dexterous Hands#
RoboVerse includes support for various dexterous hands for manipulation tasks.
Robot Name |
Number of DoFs |
Config Name |
Notes |
|---|---|---|---|
Allegro Hand |
16 |
allegrohand |
4-finger anthropomorphic hand |
BrainCo Hand (Left) |
11 |
brainco_hand_left |
6 actuated + 5 mimic/passive joints, prosthetic hand |
BrainCo Hand (Right) |
11 |
brainco_hand_right |
6 actuated + 5 mimic/passive joints, prosthetic hand |
Inspire Hand (Left) |
12 |
inspire_hand_left |
6 actuated + 6 mimic/passive (coupled) joints |
Inspire Hand (Right) |
12 |
inspire_hand_right |
6 actuated + 6 mimic/passive (coupled) joints |
PSIHand (Left) |
21 |
psihand_left |
All 21 joints actuated. Known issues with IsaacGym, use MuJoCo/Genesis |
PSIHand (Right) |
21 |
psihand_right |
All 21 joints actuated. Known issues with IsaacGym, use MuJoCo/Genesis |
XHand |
12 |
xhand |
Compact dexterous hand |