doc/models.rst
.. _Menagerie:
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 <https://github.com/google-deepmind/mujoco_menagerie>__.
Bipeds ^^^^^^
.. list-table:: :header-rows: 1
Agility Cassie <https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie>_Humanoids ^^^^^^^^^
.. list-table:: :header-rows: 1
Unitree G1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_g1>_Unitree H1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1>_Robotis OP3 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotis_op3>_Mobile Manipulators ^^^^^^^^^^^^^^^^^^^
.. list-table:: :header-rows: 1
Google Robot <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_robot>_Hello Robot Stretch 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/hello_robot_stretch>_Quadrupeds ^^^^^^^^^^
.. list-table:: :header-rows: 1
Unitree A1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_a1>_Unitree Go1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go1>_Unitree Go2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go2>_Anybotics ANYmal B <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_b>_Anybotics ANYmal C <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_c>_Google Barkour v0 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_v0>_Google Barkour vB <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_vb>_Boston Dynamics Spot <https://github.com/google-deepmind/mujoco_menagerie/tree/main/boston_dynamics_spot>_Grippers & Hands ^^^^^^^^^^^^^^^^
.. list-table:: :header-rows: 1
Shadow E3M5 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand>_Robotiq 2F-85 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85>_Wonik Allegro <https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro>_Arms ^^^^
.. list-table:: :header-rows: 1
Franka Emika Panda <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda>_Franka FR3 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_fr3>_Universal Robots UR5e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e>_Universal Robots UR10e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur10e>_LBR iiwa14 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/kuka_iiwa_14>_UFACTORY xArm7 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_xarm7>_Rethink Robotics Sawyer <https://github.com/google-deepmind/mujoco_menagerie/tree/main/rethink_robotics_sawyer>_UFactory Lite 6 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_lite6>_ViperX 300 6DOF <https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_vx300s>_WidowX 250 6DOF <https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_wx250s>_ALOHA 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/aloha>_Unitree Z1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_z1>_Drones ^^^^^^
.. list-table:: :header-rows: 1
Skydio X2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2>_Bitcraze Crazyflie 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/bitcraze_crazyflie_2>_Biomechanical ^^^^^^^^^^^^^
.. list-table:: :header-rows: 1
Fruitfly <https://github.com/google-deepmind/mujoco_menagerie/tree/main/flybody>_MS-Human-700 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ms_human_700>_