From de5c3b1a0942e5306a227ce16fc0e57a844879c4 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Thu, 14 Sep 2023 04:26:42 -0700
Subject: [PATCH] PUBLIC: Update model gallery with new Menagerie models.

PiperOrigin-RevId: 565329315
Change-Id: I819ba429aacf5cd68d2b101047879319fba259be
---
 doc/XMLreference.rst        |  3 ++-
 doc/models.rst              | 48 +++++++++++++++++++++++++++++++++++--
 doc/programming/samples.rst |  2 +-
 3 files changed, 49 insertions(+), 4 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 8cd8042e..fa2d63fe 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -1449,6 +1449,7 @@ position is specified relative to the parent body, namely the upper arm (not sho
 typical length of the human upper arm. If the mesh vertex data were not designed in the above convention, we would have
 to use the geom position and orientation (or the new refpos, refquat mechanism) to compensate, but in practice this is
 rarely needed.
+
 .. code-block:: xml
 
    <asset>
@@ -5450,7 +5451,7 @@ excluded; this is because sensor calculations are independent of the visualizer.
 .. _sensor-camprojection:
 
 :el-prefix:`sensor/` |-| **camprojection** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a camprojection sensor, which returns the location of a target site, projected onto a camera image
 in pixel coordinates. The origin of this system is located at the top-left corner of the first pixel, so a target
diff --git a/doc/models.rst b/doc/models.rst
index f69e83fa..abd38305 100644
--- a/doc/models.rst
+++ b/doc/models.rst
@@ -12,8 +12,8 @@ by Google DeepMind.
 
 For more information, visit the `Menagerie repository <https://github.com/google-deepmind/mujoco_menagerie>`__.
 
-Bipeds & Quadrupeds
-^^^^^^^^^^^^^^^^^^^
+Humanoids
+^^^^^^^^^
 
 .. list-table::
    :header-rows: 1
@@ -22,12 +22,38 @@ Bipeds & Quadrupeds
      - Preview
    * - `Agility Cassie <https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie>`_
      - .. youtube:: rcdsAdwNhtc
+   * - `Robotis OP3 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotis_op3>`_
+     - .. youtube:: jLZ3sdkyz_w
+
+Mobile Manipulators
+^^^^^^^^^^^^^^^^^^^
+
+.. list-table::
+   :header-rows: 1
+
+   * - Model
+     - Preview
+   * - `Hello Robot Stretch 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/hello_robot_stretch>`_
+     - .. youtube:: w_NUKO61wIc
+
+Quadrupeds
+^^^^^^^^^^
+
+.. list-table::
+   :header-rows: 1
+
+   * - Model
+     - Preview
    * - `Unitree A1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_a1>`_
      - .. youtube:: paQMrMtnTtc
+   * - `Unitree Go1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go1>`_
+     - .. youtube:: 4d7I67BzDJg
    * - `Anybotics ANYmal B <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_b>`_
      - .. youtube:: fRHau-PMGgM
    * - `Anybotics ANYmal C <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_c>`_
      - .. youtube:: v04uJWBLwFQ
+   * - `Google Barkour v0 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_v0>`_
+     - .. youtube:: w9EA0joEAMo
 
 Grippers & Hands
 ^^^^^^^^^^^^^^^^
@@ -41,6 +67,8 @@ Grippers & Hands
      - .. youtube:: wi_zJzRm8Ic
    * - `Robotiq 2F-85 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85>`_
      - .. youtube:: yYm9fLj32Xw
+   * - `Wonik Allegro <https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro>`_
+     - .. youtube:: jDWko1WTRXc
 
 Arms
 ^^^^
@@ -54,4 +82,20 @@ Arms
      - .. youtube:: H5zSrWcJlGs
    * - `Universal Robots UR5e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e>`_
      - .. youtube:: gAqwNeY0juo
+   * - `LBR iiwa14 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/kuka_iiwa_14>`_
+     - .. youtube:: 4Z44nkNXkwo
+   * - `UFACTORY xArm7 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_xarm7>`_
+     - .. youtube:: mMDisja5ark
+   * - `Rethink Robotics Sawyer <https://github.com/google-deepmind/mujoco_menagerie/tree/main/rethink_robotics_sawyer>`_
+     - .. youtube:: sZ41oklVvBg
 
+Drones
+^^^^^^
+
+.. list-table::
+   :header-rows: 1
+
+   * - Model
+     - Preview
+   * - `Skydio X2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2>`_
+     - .. youtube:: LBsvsgnSvoM
diff --git a/doc/programming/samples.rst b/doc/programming/samples.rst
index 455de128..f9c3e247 100644
--- a/doc/programming/samples.rst
+++ b/doc/programming/samples.rst
@@ -118,7 +118,7 @@ Windows power plan so that the minimum processor state is 100%.
 .. _saRecord:
 
 `record <https://github.com/google-deepmind/mujoco/blob/main/sample/record.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 This code sample simulates the passive dynamics of a given model, renders it offscreen, reads the color and depth pixel
 values, and saves them into a raw data file that can then be converted into a movie file with tools such as ffmpeg. The