From 4b8363de6d00a7d0e9b660c43e98f34d46d77c82 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Sun, 11 Feb 2024 20:41:57 -0800 Subject: [PATCH] Update docs with new Menagerie models. PiperOrigin-RevId: 606126764 Change-Id: I677e7860798e60b2b65d7054f60ad2bc5c4c05b1 --- doc/models.rst | 68 ++++++++++++++++++++++++++++++++++++-------------- 1 file changed, 49 insertions(+), 19 deletions(-) diff --git a/doc/models.rst b/doc/models.rst index 47de904e..9bc624cc 100644 --- a/doc/models.rst +++ b/doc/models.rst @@ -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 `__. @@ -21,9 +24,20 @@ Bipeds * - Model - Preview * - `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 `_ + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_h1/h1.png * - `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 `_ + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/google_robot/robot.png * - `Hello Robot Stretch 2 `_ - - .. 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 `_ - - .. youtube:: paQMrMtnTtc + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_a1/a1.png * - `Unitree Go1 `_ - - .. youtube:: 4d7I67BzDJg + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_go1/go1.png + * - `Unitree Go2 `_ + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_go2/go2.png * - `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 `_ - - .. youtube:: v04uJWBLwFQ + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/anybotics_anymal_c/anymal_c.png * - `Google Barkour v0 `_ - - .. youtube:: w9EA0joEAMo + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/google_barkour_v0/barkour_v0.png + * - `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 `_ - - .. youtube:: wi_zJzRm8Ic + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/shadow_hand/shadow_hand.png * - `Robotiq 2F-85 `_ - - .. youtube:: yYm9fLj32Xw + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/robotiq_2f85/2f85.png * - `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 `_ - - .. youtube:: H5zSrWcJlGs + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/franka_emika_panda/panda.png * - `Universal Robots UR5e `_ - - .. youtube:: gAqwNeY0juo + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/universal_robots_ur5e/ur5e.png + * - `Universal Robots UR10e `_ + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/universal_robots_ur10e/ur10e.png * - `LBR iiwa14 `_ - - .. youtube:: 4Z44nkNXkwo + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/kuka_iiwa_14/iiwa_14.png * - `UFACTORY xArm7 `_ - - .. youtube:: mMDisja5ark + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/ufactory_xarm7/xarm7.png * - `Rethink Robotics Sawyer `_ - - .. youtube:: sZ41oklVvBg + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/rethink_robotics_sawyer/sawyer.png + * - `UFactory Lite 6 `_ + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/ufactory_lite6/lite6.png + * - `ViperX 300 6DOF `_ + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/trossen_vx300s/vx300s.png + * - `ALOHA 2 `_ + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/aloha/aloha.png + * - `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 `_ - - .. youtube:: LBsvsgnSvoM + - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/skydio_x2/x2.png