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MuJoCo Documentation
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Model Gallery#

MuJoCo Menagerie#

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

For more information, visit the Menagerie repository.

Bipeds#

Model

Preview

Agility Cassie

Robotis OP3

Mobile Manipulators#

Model

Preview

Hello Robot Stretch 2

Quadrupeds#

Model

Preview

Unitree A1

Unitree Go1

Anybotics ANYmal B

Anybotics ANYmal C

Google Barkour v0

Grippers & Hands#

Model

Preview

Shadow E3M5

Robotiq 2F-85

Wonik Allegro

Arms#

Model

Preview

Franka Emika Panda

Universal Robots UR5e

LBR iiwa14

UFACTORY xArm7

Rethink Robotics Sawyer

Drones#

Model

Preview

Skydio X2

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Made with Sphinx and @pradyunsg's Furo
On this page
  • Model Gallery
    • MuJoCo Menagerie
      • Bipeds
      • Mobile Manipulators
      • Quadrupeds
      • Grippers & Hands
      • Arms
      • Drones