Kevin Zakka
de5c3b1a09
PiperOrigin-RevId: 565329315 Change-Id: I819ba429aacf5cd68d2b101047879319fba259be
102 lines
3.1 KiB
ReStructuredText
102 lines
3.1 KiB
ReStructuredText
=============
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Model Gallery
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=============
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.. _Menagerie:
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MuJoCo Menagerie
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----------------
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Menagerie is a collection of high-quality simulation models for MuJoCo, curated
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by Google DeepMind.
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For more information, visit the `Menagerie repository <https://github.com/google-deepmind/mujoco_menagerie>`__.
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Humanoids
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^^^^^^^^^
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.. list-table::
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:header-rows: 1
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* - Model
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- Preview
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* - `Agility Cassie <https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie>`_
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- .. youtube:: rcdsAdwNhtc
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* - `Robotis OP3 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotis_op3>`_
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- .. youtube:: jLZ3sdkyz_w
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Mobile Manipulators
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^^^^^^^^^^^^^^^^^^^
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.. list-table::
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:header-rows: 1
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* - Model
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- Preview
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* - `Hello Robot Stretch 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/hello_robot_stretch>`_
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- .. youtube:: w_NUKO61wIc
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Quadrupeds
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^^^^^^^^^^
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.. list-table::
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:header-rows: 1
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* - Model
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- Preview
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* - `Unitree A1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_a1>`_
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- .. youtube:: paQMrMtnTtc
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* - `Unitree Go1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go1>`_
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- .. youtube:: 4d7I67BzDJg
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* - `Anybotics ANYmal B <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_b>`_
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- .. youtube:: fRHau-PMGgM
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* - `Anybotics ANYmal C <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_c>`_
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- .. youtube:: v04uJWBLwFQ
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* - `Google Barkour v0 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_v0>`_
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- .. youtube:: w9EA0joEAMo
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Grippers & Hands
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^^^^^^^^^^^^^^^^
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.. list-table::
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:header-rows: 1
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* - Model
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- Preview
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* - `Shadow E3M5 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand>`_
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- .. youtube:: wi_zJzRm8Ic
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* - `Robotiq 2F-85 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85>`_
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- .. youtube:: yYm9fLj32Xw
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* - `Wonik Allegro <https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro>`_
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- .. youtube:: jDWko1WTRXc
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Arms
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^^^^
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.. list-table::
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:header-rows: 1
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* - Model
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- Preview
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* - `Franka Emika Panda <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda>`_
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- .. youtube:: H5zSrWcJlGs
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* - `Universal Robots UR5e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e>`_
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- .. youtube:: gAqwNeY0juo
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* - `LBR iiwa14 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/kuka_iiwa_14>`_
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- .. youtube:: 4Z44nkNXkwo
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* - `UFACTORY xArm7 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_xarm7>`_
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- .. youtube:: mMDisja5ark
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* - `Rethink Robotics Sawyer <https://github.com/google-deepmind/mujoco_menagerie/tree/main/rethink_robotics_sawyer>`_
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- .. youtube:: sZ41oklVvBg
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Drones
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^^^^^^
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.. list-table::
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:header-rows: 1
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* - Model
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- Preview
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* - `Skydio X2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2>`_
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- .. youtube:: LBsvsgnSvoM
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