=============
Model Gallery
=============

.. _Menagerie:

MuJoCo Menagerie
----------------

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

For more information, visit the `Menagerie repository <https://github.com/deepmind/mujoco_menagerie>`__.

Bipeds & Quadrupeds
^^^^^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1

   * - Model
     - Preview
   * - `Agility Cassie <https://github.com/deepmind/mujoco_menagerie/tree/main/agility_cassie>`_
     - .. youtube:: rcdsAdwNhtc
   * - `Unitree A1 <https://github.com/deepmind/mujoco_menagerie/tree/main/unitree_a1>`_
     - .. youtube:: paQMrMtnTtc
   * - `Anybotics ANYmal B <https://github.com/deepmind/mujoco_menagerie/tree/main/anybotics_anymal_b>`_
     - .. youtube:: fRHau-PMGgM
   * - `Anybotics ANYmal C <https://github.com/deepmind/mujoco_menagerie/tree/main/anybotics_anymal_c>`_
     - .. youtube:: v04uJWBLwFQ

Grippers & Hands
^^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1

   * - Model
     - Preview
   * - `Shadow E3M5 <https://github.com/deepmind/mujoco_menagerie/tree/main/shadow_hand>`_
     - .. youtube:: wi_zJzRm8Ic
   * - `Robotiq 2F-85 <https://github.com/deepmind/mujoco_menagerie/tree/main/robotiq_2f85>`_
     - .. youtube:: yYm9fLj32Xw

Arms
^^^^

.. list-table::
   :header-rows: 1

   * - Model
     - Preview
   * - `Franka Emika Panda <https://github.com/deepmind/mujoco_menagerie/tree/main/franka_emika_panda>`_
     - .. youtube:: H5zSrWcJlGs
   * - `Universal Robots UR5e <https://github.com/deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e>`_
     - .. youtube:: gAqwNeY0juo