Update docs with new Menagerie models.

PiperOrigin-RevId: 606126764 Change-Id: I677e7860798e60b2b65d7054f60ad2bc5c4c05b1
2024-02-11 20:41:57 -08:00
parent 3601026b1d
commit 4b8363de6d
1 changed files with 49 additions and 19 deletions
@@ -7,8 +7,11 @@ Model Gallery
 MuJoCo Menagerie
 ----------------

-Menagerie is a collection of high-quality simulation models for MuJoCo, curated
-by Google DeepMind.
+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>`__.

@@ -21,9 +24,20 @@ Bipeds
   * - Model
     - Preview
   * - `Agility Cassie <https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie>`_
-     - .. youtube:: rcdsAdwNhtc
+     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/agility_cassie/cassie.png
+
+Humanoids
+^^^^^^^^^
+
+.. list-table::
+   :header-rows: 1
+
+   * - Model
+     - Preview
+   * - `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>`_
-     - .. youtube:: jLZ3sdkyz_w
+     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/robotis_op3/op3.png

 Mobile Manipulators
 ^^^^^^^^^^^^^^^^^^^
@@ -33,8 +47,10 @@ Mobile Manipulators

   * - 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>`_
-     - .. youtube:: w_NUKO61wIc
+     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/hello_robot_stretch/stretch.png

 Quadrupeds
 ^^^^^^^^^^
@@ -45,15 +61,19 @@ Quadrupeds
   * - Model
     - Preview
   * - `Unitree A1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_a1>`_
-     - .. youtube:: paQMrMtnTtc
+     - .. 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>`_
-     - .. youtube:: 4d7I67BzDJg
+     - .. 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>`_
-     - .. youtube:: fRHau-PMGgM
+     - .. 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>`_
-     - .. youtube:: v04uJWBLwFQ
+     - .. 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>`_
-     - .. youtube:: w9EA0joEAMo
+     - .. 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

 Grippers & Hands
 ^^^^^^^^^^^^^^^^
@@ -64,11 +84,11 @@ Grippers & Hands
   * - Model
     - Preview
   * - `Shadow E3M5 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand>`_
-     - .. youtube:: wi_zJzRm8Ic
+     - .. 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>`_
-     - .. youtube:: yYm9fLj32Xw
+     - .. 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>`_
-     - .. youtube:: jDWko1WTRXc
+     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/wonik_allegro/allegro_hand.png

 Arms
 ^^^^
@@ -79,15 +99,25 @@ Arms
   * - Model
     - Preview
   * - `Franka Emika Panda <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda>`_
-     - .. youtube:: H5zSrWcJlGs
+     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/franka_emika_panda/panda.png
   * - `Universal Robots UR5e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e>`_
-     - .. youtube:: gAqwNeY0juo
+     - .. 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>`_
-     - .. youtube:: 4Z44nkNXkwo
+     - .. 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>`_
-     - .. youtube:: mMDisja5ark
+     - .. 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>`_
-     - .. youtube:: sZ41oklVvBg
+     - .. 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
+   * - `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
 ^^^^^^
@@ -98,4 +128,4 @@ Drones
   * - Model
     - Preview
   * - `Skydio X2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2>`_
-     - .. youtube:: LBsvsgnSvoM
+     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/skydio_x2/x2.png