| ============= | |
| Model Gallery | |
| ============= | |
| .. _Menagerie: | |
| MuJoCo Menagerie | |
| ---------------- | |
| A physics simulator is only as good as the model it is simulating, and in a | |
| powerful simulator like MuJoCo with many modeling options, it is easy to create | |
| "bad" models which do not behave as expected. The goal of **MuJoCo Menagerie** | |
| is to provide the community with a curated collection of well-designed models | |
| that work well right out of the box. | |
| For more information, visit the `Menagerie repository <https://github.com/google-deepmind/mujoco_menagerie>`__. | |
| Bipeds | |
| ^^^^^^ | |
| .. list-table:: | |
| :header-rows: 1 | |
| * - Model | |
| - Preview | |
| * - `Agility Cassie <https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/agility_cassie/cassie.png | |
| Humanoids | |
| ^^^^^^^^^ | |
| .. list-table:: | |
| :header-rows: 1 | |
| * - Model | |
| - Preview | |
| * - `Unitree G1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_g1>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_g1/g1.png | |
| * - `Unitree H1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_h1/h1.png | |
| * - `Robotis OP3 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotis_op3>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/robotis_op3/op3.png | |
| Mobile Manipulators | |
| ^^^^^^^^^^^^^^^^^^^ | |
| .. list-table:: | |
| :header-rows: 1 | |
| * - Model | |
| - Preview | |
| * - `Google Robot <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_robot>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/google_robot/robot.png | |
| * - `Hello Robot Stretch 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/hello_robot_stretch>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/hello_robot_stretch/stretch.png | |
| Quadrupeds | |
| ^^^^^^^^^^ | |
| .. list-table:: | |
| :header-rows: 1 | |
| * - Model | |
| - Preview | |
| * - `Unitree A1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_a1>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_a1/a1.png | |
| * - `Unitree Go1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go1>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_go1/go1.png | |
| * - `Unitree Go2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go2>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_go2/go2.png | |
| * - `Anybotics ANYmal B <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_b>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/anybotics_anymal_b/anymal_b.png | |
| * - `Anybotics ANYmal C <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_c>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/anybotics_anymal_c/anymal_c.png | |
| * - `Google Barkour v0 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_v0>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/google_barkour_v0/barkour_v0.png | |
| * - `Google Barkour vB <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_vb>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/google_barkour_vb/barkour_vb.png | |
| * - `Boston Dynamics Spot <https://github.com/google-deepmind/mujoco_menagerie/tree/main/boston_dynamics_spot>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/boston_dynamics_spot/spot.png | |
| Grippers & Hands | |
| ^^^^^^^^^^^^^^^^ | |
| .. list-table:: | |
| :header-rows: 1 | |
| * - Model | |
| - Preview | |
| * - `Shadow E3M5 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/shadow_hand/shadow_hand.png | |
| * - `Robotiq 2F-85 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/robotiq_2f85/2f85.png | |
| * - `Wonik Allegro <https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/wonik_allegro/allegro_hand.png | |
| Arms | |
| ^^^^ | |
| .. list-table:: | |
| :header-rows: 1 | |
| * - Model | |
| - Preview | |
| * - `Franka Emika Panda <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/franka_emika_panda/panda.png | |
| * - `Franka FR3 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_fr3>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/franka_fr3/fr3.png | |
| * - `Universal Robots UR5e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/universal_robots_ur5e/ur5e.png | |
| * - `Universal Robots UR10e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur10e>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/universal_robots_ur10e/ur10e.png | |
| * - `LBR iiwa14 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/kuka_iiwa_14>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/kuka_iiwa_14/iiwa_14.png | |
| * - `UFACTORY xArm7 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_xarm7>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/ufactory_xarm7/xarm7.png | |
| * - `Rethink Robotics Sawyer <https://github.com/google-deepmind/mujoco_menagerie/tree/main/rethink_robotics_sawyer>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/rethink_robotics_sawyer/sawyer.png | |
| * - `UFactory Lite 6 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_lite6>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/ufactory_lite6/lite6.png | |
| * - `ViperX 300 6DOF <https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_vx300s>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/trossen_vx300s/vx300s.png | |
| * - `WidowX 250 6DOF <https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_wx250s>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/trossen_wx250s/wx250s.png | |
| * - `ALOHA 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/aloha>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/aloha/aloha.png | |
| * - `Unitree Z1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_z1>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_z1/z1.png | |
| Drones | |
| ^^^^^^ | |
| .. list-table:: | |
| :header-rows: 1 | |
| * - Model | |
| - Preview | |
| * - `Skydio X2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/skydio_x2/x2.png | |
| * - `Bitcraze Crazyflie 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/bitcraze_crazyflie_2>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/bitcraze_crazyflie_2/cf2.png | |
| Biomechanical | |
| ^^^^^^^^^^^^^ | |
| .. list-table:: | |
| :header-rows: 1 | |
| * - Model | |
| - Preview | |
| * - `Fruitfly <https://github.com/google-deepmind/mujoco_menagerie/tree/main/flybody>`_ | |
| - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/flybody/flybody.png | |