=============
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
   * - `MS-Human-700 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ms_human_700>`_
     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/ms_human_700/ms_human_700.png