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	<section id="bundled-assets">
	<h1>Bundled Assets<a class="headerlink" href="#bundled-assets" title="Permalink to this heading"></a></h1>
	<section id="articulated-models">
	<h2>Articulated Models<a class="headerlink" href="#articulated-models" title="Permalink to this heading"></a></h2>
	<p>The following color scheme is used to represent the articulated models below.</p>
	<div class="graphviz"><img src="../_images/graphviz-5073c5da15370ac3c1491b01cafffcb9b79c41fb.png" alt="digraph {
	graph [aspect=1 concentrate=true ordering=out ratio=compress];
	node [ fontname=Roboto ];
	edge [ fontname=Roboto ];
	A [label="Root Rigid Body" shape="polygon" style="filled" fillcolor="#6F6F6F"]
	B [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"]
	C [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"]
	D [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"]
	E [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"]
	F [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"]
	A -> B[label="Revolute Joint" fillcolor="#4ECDC4" color="#4ECDC4"]
	C -> D[label="Fixed Joint" fillcolor="#556270" color="#556270"]
	E -> F[label="Prismatic Joint" fillcolor="#C7F464" color="#C7F464"]
	}" class="graphviz" /></div>
	<section id="mjcf-models">
	<h3>MJCF Models<a class="headerlink" href="#mjcf-models" title="Permalink to this heading"></a></h3>
	<section id="ant-assets-mjcf-nv-ant-xml">
	<h4>Ant <code class="code docutils literal notranslate"><span class="pre">assets/mjcf/nv_ant.xml</span></code><a class="headerlink" href="#ant-assets-mjcf-nv-ant-xml" title="Permalink to this heading"></a></h4>
	<div class="graphviz"><img src="../_images/graphviz-c662e661969e842d97c460c75b15b32ccca7a6fc.png" alt="digraph {
	graph [aspect=1 concentrate=true ordering=out ratio=compress ];
	node [ fontname=Roboto ];
	edge [ fontname=Roboto ];
	torso [shape="polygon" style="filled" fillcolor="#6F6F6F"]
	front_left_leg [shape="polygon" style="filled" fillcolor="#76b900"]
	front_left_foot [shape="polygon" style="filled" fillcolor="#76b900"]
	front_right_leg [shape="polygon" style="filled" fillcolor="#76b900"]
	front_right_foot [shape="polygon" style="filled" fillcolor="#76b900"]
	left_back_leg [shape="polygon" style="filled" fillcolor="#76b900"]
	left_back_foot [shape="polygon" style="filled" fillcolor="#76b900"]
	right_back_leg [shape="polygon" style="filled" fillcolor="#76b900"]
	right_back_foot [shape="polygon" style="filled" fillcolor="#76b900"]
	torso -> front_left_leg [label="hip_1" fillcolor="#4ECDC4" color="#4ECDC4"]
	front_left_leg -> front_left_foot [label="ankle_1" fillcolor="#4ECDC4" color="#4ECDC4"]
	torso -> front_right_leg [label="hip_2" fillcolor="#4ECDC4" color="#4ECDC4"]
	front_right_leg -> front_right_foot [label="ankle_2" fillcolor="#4ECDC4" color="#4ECDC4"]
	torso -> left_back_leg [label="hip_3" fillcolor="#4ECDC4" color="#4ECDC4"]
	left_back_leg -> left_back_foot [label="ankle_3" fillcolor="#4ECDC4" color="#4ECDC4"]
	torso -> right_back_leg [label="hip_4" fillcolor="#4ECDC4" color="#4ECDC4"]
	right_back_leg -> right_back_foot [label="ankle_4" fillcolor="#4ECDC4" color="#4ECDC4"]
	}" class="graphviz" /></div>
	</section>
	<hr class="docutils" />
	<section id="humanoid-assets-mjcf-nv-humanoid-xml">
	<h4>Humanoid <code class="code docutils literal notranslate"><span class="pre">assets/mjcf/nv_humanoid.xml</span></code><a class="headerlink" href="#humanoid-assets-mjcf-nv-humanoid-xml" title="Permalink to this heading"></a></h4>
	<div class="graphviz"><img src="../_images/graphviz-155c759804530a8a66c3e88877a9b6cb1a35be9b.png" alt="digraph {
	graph [aspect=1 concentrate=true ordering=out ratio=compress ];
	node [ fontname=Roboto ];
	edge [ fontname=Roboto ];
	torso [shape="polygon" style="filled" fillcolor="#6F6F6F"]
	lwaist [shape="polygon" style="filled" fillcolor="#76b900"]
	pelvis [shape="polygon" style="filled" fillcolor="#76b900"]
	right_thigh [shape="polygon" style="filled" fillcolor="#76b900"]
	right_shin [shape="polygon" style="filled" fillcolor="#76b900"]
	right_foot [shape="polygon" style="filled" fillcolor="#76b900"]
	left_thigh [shape="polygon" style="filled" fillcolor="#76b900"]
	left_shin [shape="polygon" style="filled" fillcolor="#76b900"]
	left_foot [shape="polygon" style="filled" fillcolor="#76b900"]
	right_upper_arm [shape="polygon" style="filled" fillcolor="#76b900"]
	right_lower_arm [shape="polygon" style="filled" fillcolor="#76b900"]
	left_upper_arm [shape="polygon" style="filled" fillcolor="#76b900"]
	left_lower_arm [shape="polygon" style="filled" fillcolor="#76b900"]
	torso -> lwaist [label="abdomen_z" fillcolor="#4ECDC4" color="#4ECDC4"]
	torso -> lwaist [label="abdomen_y" fillcolor="#4ECDC4" color="#4ECDC4"]
	lwaist -> pelvis [label="abdomen_x" fillcolor="#4ECDC4" color="#4ECDC4"]
	pelvis -> right_thigh [label="right_hip_x" fillcolor="#4ECDC4" color="#4ECDC4"]
	pelvis -> right_thigh [label="right_hip_z" fillcolor="#4ECDC4" color="#4ECDC4"]
	pelvis -> right_thigh [label="right_hip_y" fillcolor="#4ECDC4" color="#4ECDC4"]
	right_thigh -> right_shin [label="right_knee" fillcolor="#4ECDC4" color="#4ECDC4"]
	right_shin -> right_foot [label="right_ankle_y" fillcolor="#4ECDC4" color="#4ECDC4"]
	right_shin -> right_foot [label="right_ankle_x" fillcolor="#4ECDC4" color="#4ECDC4"]
	pelvis -> left_thigh [label="left_hip_x" fillcolor="#4ECDC4" color="#4ECDC4"]
	pelvis -> left_thigh [label="left_hip_z" fillcolor="#4ECDC4" color="#4ECDC4"]
	pelvis -> left_thigh [label="left_hip_y" fillcolor="#4ECDC4" color="#4ECDC4"]
	left_thigh -> left_shin [label="left_knee" fillcolor="#4ECDC4" color="#4ECDC4"]
	left_shin -> left_foot [label="left_ankle_y" fillcolor="#4ECDC4" color="#4ECDC4"]
	left_shin -> left_foot [label="left_ankle_x" fillcolor="#4ECDC4" color="#4ECDC4"]
	torso -> right_upper_arm [label="right_shoulder1" fillcolor="#4ECDC4" color="#4ECDC4"]
	torso -> right_upper_arm [label="right_shoulder2" fillcolor="#4ECDC4" color="#4ECDC4"]
	right_upper_arm -> right_lower_arm [label="right_elbow" fillcolor="#4ECDC4" color="#4ECDC4"]
	torso -> left_upper_arm [label="left_shoulder1" fillcolor="#4ECDC4" color="#4ECDC4"]
	torso -> left_upper_arm [label="left_shoulder2" fillcolor="#4ECDC4" color="#4ECDC4"]
	left_upper_arm -> left_lower_arm [label="left_elbow" fillcolor="#4ECDC4" color="#4ECDC4"]
	}" class="graphviz" /></div>
	</section>
	</section>
	<section id="urdf-models">
	<h3>URDF Models<a class="headerlink" href="#urdf-models" title="Permalink to this heading"></a></h3>
	<section id="anymal-assets-urdf-anymal-b-simple-description-urdf-anymal-urdf">
	<h4>Anymal <code class="code docutils literal notranslate"><span class="pre">assets/urdf/anymal_b_simple_description/urdf/anymal.urdf</span></code><a class="headerlink" href="#anymal-assets-urdf-anymal-b-simple-description-urdf-anymal-urdf" title="Permalink to this heading"></a></h4>
	<div class="graphviz"><img src="../_images/graphviz-9ea6e68aae281f6116674bc214e7636ddfcc6e24.png" alt="digraph {
	graph [aspect=1 concentrate=true ordering=out ratio=compress ];
	node [ fontname=Roboto ];
	edge [ fontname=Roboto ];
	base [shape="polygon" style="filled" fillcolor="#6F6F6F"]
	LF_HIP [shape="polygon" style="filled" fillcolor="#76b900"]
	LF_THIGH [shape="polygon" style="filled" fillcolor="#76b900"]
	LF_SHANK [shape="polygon" style="filled" fillcolor="#76b900"]
	LF_ADAPTER [shape="polygon" style="filled" fillcolor="#76b900"]
	LF_FOOT [shape="polygon" style="filled" fillcolor="#76b900"]
	LH_HIP [shape="polygon" style="filled" fillcolor="#76b900"]
	LH_THIGH [shape="polygon" style="filled" fillcolor="#76b900"]
	LH_SHANK [shape="polygon" style="filled" fillcolor="#76b900"]
	LH_ADAPTER [shape="polygon" style="filled" fillcolor="#76b900"]
	LH_FOOT [shape="polygon" style="filled" fillcolor="#76b900"]
	RF_HIP [shape="polygon" style="filled" fillcolor="#76b900"]
	RF_THIGH [shape="polygon" style="filled" fillcolor="#76b900"]
	RF_SHANK [shape="polygon" style="filled" fillcolor="#76b900"]
	RF_ADAPTER [shape="polygon" style="filled" fillcolor="#76b900"]
	RF_FOOT [shape="polygon" style="filled" fillcolor="#76b900"]
	RH_HIP [shape="polygon" style="filled" fillcolor="#76b900"]
	RH_THIGH [shape="polygon" style="filled" fillcolor="#76b900"]
	RH_SHANK [shape="polygon" style="filled" fillcolor="#76b900"]
	RH_ADAPTER [shape="polygon" style="filled" fillcolor="#76b900"]
	RH_FOOT [shape="polygon" style="filled" fillcolor="#76b900"]
	base -> LF_HIP [label="LF_HAA" fillcolor="#4ECDC4" color="#4ECDC4"]
	LF_HIP -> LF_THIGH [label="LF_HFE" fillcolor="#4ECDC4" color="#4ECDC4"]
	LF_THIGH -> LF_SHANK [label="LF_KFE" fillcolor="#4ECDC4" color="#4ECDC4"]
	LF_SHANK -> LF_ADAPTER [label="LF_SHANK_TO_ADAPTER" fillcolor="#556270" color="#556270"]
	LF_ADAPTER -> LF_FOOT [label="LF_ADAPTER_TO_FOOT" fillcolor="#556270" color="#556270"]
	base -> LH_HIP [label="LH_HAA" fillcolor="#4ECDC4" color="#4ECDC4"]
	LH_HIP -> LH_THIGH [label="LH_HFE" fillcolor="#4ECDC4" color="#4ECDC4"]
	LH_THIGH -> LH_SHANK [label="LH_KFE" fillcolor="#4ECDC4" color="#4ECDC4"]
	LH_SHANK -> LH_ADAPTER [label="LH_SHANK_TO_ADAPTER" fillcolor="#556270" color="#556270"]
	LH_ADAPTER -> LH_FOOT [label="LH_ADAPTER_TO_FOOT" fillcolor="#556270" color="#556270"]
	base -> RF_HIP [label="RF_HAA" fillcolor="#4ECDC4" color="#4ECDC4"]
	RF_HIP -> RF_THIGH [label="RF_HFE" fillcolor="#4ECDC4" color="#4ECDC4"]
	RF_THIGH -> RF_SHANK [label="RF_KFE" fillcolor="#4ECDC4" color="#4ECDC4"]
	RF_SHANK -> RF_ADAPTER [label="RF_SHANK_TO_ADAPTER" fillcolor="#556270" color="#556270"]
	RF_ADAPTER -> RF_FOOT [label="RF_ADAPTER_TO_FOOT" fillcolor="#556270" color="#556270"]
	base -> RH_HIP [label="RH_HAA" fillcolor="#4ECDC4" color="#4ECDC4"]
	RH_HIP -> RH_THIGH [label="RH_HFE" fillcolor="#4ECDC4" color="#4ECDC4"]
	RH_THIGH -> RH_SHANK [label="RH_KFE" fillcolor="#4ECDC4" color="#4ECDC4"]
	RH_SHANK -> RH_ADAPTER [label="RH_SHANK_TO_ADAPTER" fillcolor="#556270" color="#556270"]
	RH_ADAPTER -> RH_FOOT [label="RH_ADAPTER_TO_FOOT" fillcolor="#556270" color="#556270"]
	}" class="graphviz" /></div>
	<hr class="docutils" />
	</section>
	<section id="franka-panda-assets-urdf-franka-description-robots-franka-panda-urdf">
	<span id="franka-asset"></span><h4>Franka Panda <code class="code docutils literal notranslate"><span class="pre">assets/urdf/franka_description/robots/franka_panda.urdf</span></code><a class="headerlink" href="#franka-panda-assets-urdf-franka-description-robots-franka-panda-urdf" title="Permalink to this heading"></a></h4>
	<div class="graphviz"><img src="../_images/graphviz-67576ed59e6f8039c971b6bde8c1d82f21e288a7.png" alt="digraph {
	graph [aspect=1 concentrate=true ordering=out ratio=compress ];
	node [ fontname=Roboto ];
	edge [ fontname=Roboto ];
	panda_link0 [shape="polygon" style="filled" fillcolor="#6F6F6F"]
	panda_link1 [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_link2 [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_link3 [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_link4 [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_link5 [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_link6 [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_link7 [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_hand [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_leftfinger [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_rightfinger [shape="polygon" style="filled" fillcolor="#76b900"]
	panda_link0 -> panda_link1 [label="panda_joint1" fillcolor="#4ECDC4" color="#4ECDC4"]
	panda_link1 -> panda_link2 [label="panda_joint2" fillcolor="#4ECDC4" color="#4ECDC4"]
	panda_link2 -> panda_link3 [label="panda_joint3" fillcolor="#4ECDC4" color="#4ECDC4"]
	panda_link3 -> panda_link4 [label="panda_joint4" fillcolor="#4ECDC4" color="#4ECDC4"]
	panda_link4 -> panda_link5 [label="panda_joint5" fillcolor="#4ECDC4" color="#4ECDC4"]
	panda_link5 -> panda_link6 [label="panda_joint6" fillcolor="#4ECDC4" color="#4ECDC4"]
	panda_link6 -> panda_link7 [label="panda_joint7" fillcolor="#4ECDC4" color="#4ECDC4"]
	panda_link7 -> panda_hand [label="panda_hand_joint" fillcolor="#556270" color="#556270"]
	panda_hand -> panda_leftfinger [label="panda_finger_joint1" fillcolor="#C7F464" color="#C7F464"]
	panda_hand -> panda_rightfinger [label="panda_finger_joint2" fillcolor="#C7F464" color="#C7F464"]
	}" class="graphviz" /></div>
	</section>
	<hr class="docutils" />
	<section id="kinova-jaco-assets-urdf-kinova-description-urdf-kinova-urdf">
	<h4>Kinova Jaco <code class="code docutils literal notranslate"><span class="pre">assets/urdf/kinova_description/urdf/kinova.urdf</span></code><a class="headerlink" href="#kinova-jaco-assets-urdf-kinova-description-urdf-kinova-urdf" title="Permalink to this heading"></a></h4>
	<div class="graphviz"><img src="../_images/graphviz-f87ed2bbb35cec2e55a2b5072ce6f7bf2fab7457.png" alt="digraph {
	graph [aspect=1 concentrate=true ordering=out ratio=compress ];
	node [ fontname=Roboto ];
	edge [ fontname=Roboto ];
	kinova_link_base [shape="polygon" style="filled" fillcolor="#6F6F6F"]
	kinova_link_1 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_2 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_3 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_4 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_5 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_6 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_end_effector [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_finger_1 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_finger_tip_1 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_finger_2 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_finger_tip_2 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_finger_3 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_finger_tip_3 [shape="polygon" style="filled" fillcolor="#76b900"]
	kinova_link_base -> kinova_link_1 [label="kinova_joint_1" fillcolor="#4ECDC4" color="#4ECDC4"]
	kinova_link_1 -> kinova_link_2 [label="kinova_joint_2" fillcolor="#4ECDC4" color="#4ECDC4"]
	kinova_link_2 -> kinova_link_3 [label="kinova_joint_3" fillcolor="#4ECDC4" color="#4ECDC4"]
	kinova_link_3 -> kinova_link_4 [label="kinova_joint_4" fillcolor="#4ECDC4" color="#4ECDC4"]
	kinova_link_4 -> kinova_link_5 [label="kinova_joint_5" fillcolor="#4ECDC4" color="#4ECDC4"]
	kinova_link_5 -> kinova_link_6 [label="kinova_joint_6" fillcolor="#4ECDC4" color="#4ECDC4"]
	kinova_link_6 -> kinova_end_effector [label="kinova_joint_end_effector" fillcolor="#556270" color="#556270"]
	kinova_link_6 -> kinova_link_finger_1 [label="kinova_joint_finger_1" fillcolor="#556270" color="#556270"]
	kinova_link_finger_1 -> kinova_link_finger_tip_1 [label="kinova_joint_finger_tip_1" fillcolor="#556270" color="#556270"]
	kinova_link_6 -> kinova_link_finger_2 [label="kinova_joint_finger_2" fillcolor="#556270" color="#556270"]
	kinova_link_finger_2 -> kinova_link_finger_tip_2 [label="kinova_joint_finger_tip_2" fillcolor="#556270" color="#556270"]
	kinova_link_6 -> kinova_link_finger_3 [label="kinova_joint_finger_3" fillcolor="#556270" color="#556270"]
	kinova_link_finger_3 -> kinova_link_finger_tip_3 [label="kinova_joint_finger_tip_3" fillcolor="#556270" color="#556270"]
	}" class="graphviz" /></div>
	</section>
	<hr class="docutils" />
	<section id="cabinet-assets-urdf-sektion-cabinet-model-urdf-sektion-cabinet-urdf">
	<h4>Cabinet <code class="code docutils literal notranslate"><span class="pre">assets/urdf/sektion_cabinet_model/urdf/sektion_cabinet.urdf</span></code><a class="headerlink" href="#cabinet-assets-urdf-sektion-cabinet-model-urdf-sektion-cabinet-urdf" title="Permalink to this heading"></a></h4>
	<div class="graphviz"><img src="../_images/graphviz-d353dcebd4616827fdc04cf9774ea48d17908841.png" alt="digraph {
	graph [aspect=1 concentrate=true ordering=out ratio=compress ];
	node [ fontname=Roboto ];
	edge [ fontname=Roboto ];
	sektion [shape="polygon" style="filled" fillcolor="#6F6F6F"]
	door_left_link [shape="polygon" style="filled" fillcolor="#76b900"]
	door_left_nob_link [shape="polygon" style="filled" fillcolor="#76b900"]
	door_right_link [shape="polygon" style="filled" fillcolor="#76b900"]
	door_right_nob_link [shape="polygon" style="filled" fillcolor="#76b900"]
	drawer_bottom [shape="polygon" style="filled" fillcolor="#76b900"]
	drawer_handle_bottom [shape="polygon" style="filled" fillcolor="#76b900"]
	drawer_top [shape="polygon" style="filled" fillcolor="#76b900"]
	drawer_handle_top [shape="polygon" style="filled" fillcolor="#76b900"]
	sektion -> door_left_link [label="door_left_joint" fillcolor="#4ECDC4" color="#4ECDC4"]
	door_left_link -> door_left_nob_link [label="door_left_nob_transform" fillcolor="#556270" color="#556270"]
	sektion -> door_right_link [label="door_right_joint" fillcolor="#4ECDC4" color="#4ECDC4"]
	door_right_link -> door_right_nob_link [label="door_right_nob_transform" fillcolor="#556270" color="#556270"]
	sektion -> drawer_bottom [label="drawer_bottom_joint" fillcolor="#C7F464" color="#C7F464"]
	drawer_bottom -> drawer_handle_bottom [label="drawer_handle_bottom_joint" fillcolor="#556270" color="#556270"]
	sektion -> drawer_top [label="drawer_top_joint" fillcolor="#C7F464" color="#C7F464"]
	drawer_top -> drawer_handle_top [label="drawer_handle_top_joint" fillcolor="#556270" color="#556270"]
	}" class="graphviz" /></div>
	</section>
	</section>
	</section>
	<section id="textures">
	<h2>Textures<a class="headerlink" href="#textures" title="Permalink to this heading"></a></h2>
	<p>The following texture assets are available in gym for visualization and domain randomization purposes</p>
	<ul class="simple">
	<li><p>background_texture_metal_rust.jpg</p></li>
	<li><p>metal_wall_iron_fence.jpg</p></li>
	<li><p>particle_board_paint_aged.jpg</p></li>
	<li><p>pebble_stone_texture_nature.jpg</p></li>
	<li><p>texture_background_wall_paint_2.jpg</p></li>
	<li><p>texture_background_wall_paint_3.jpg</p></li>
	<li><p>texture_license.txt</p></li>
	<li><p>texture_stone_stone_texture_0.jpg</p></li>
	<li><p>texture_wood_brown_1033760.jpg</p></li>
	</ul>
	</section>
	</section>


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