=============
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/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>`_
     - .. 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
^^^^^^^^^^^^^^^^

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

   * - Model
     - Preview
   * - `Shadow E3M5 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand>`_
     - .. 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
^^^^

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

   * - Model
     - Preview
   * - `Franka Emika Panda <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda>`_
     - .. 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