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Import google-deepmind/mujoco_menagerie from GitHub.
 - 1f22933 feat: Add standalone XML model for the Panda hand by Muhammad Maaz <mmaaz2005@hotmail.com> - 4528ba6 Add toddlerbot_2xc and toddlerbot_2xm by hshi74 <haochen213300@gmail.com> - eb1b112 feat: Added fr3v2 by Andreas Kuhner <andreas.kuhner@franka.de> - b0ee6c9 Update the PR based on the suggestions by hshi74 <haochen213300@gmail.com> - fe3c74a Update README.md by Haochen Shi <haochen213300@gmail.com> - e3b49d0 Update the PR based on the suggestions by hshi74 <haochen213300@gmail.com> - c1177ae Add empty lines between large blocks by hshi74 <haochen213300@gmail.com> - 24b360c Remove minus signs before 0s and unnecessary decimals by hshi74 <haochen213300@gmail.com> - b547c26 Remove unnecessary minus signs and decimals by hshi74 <haochen213300@gmail.com> - 3877bd1 Add the toddlerbot thumbnail by hshi74 <haochen213300@gmail.com> - 9304955 internal by Baruch Tabanpour <btaba@google.com> - a0f6f50 Add the SO101 arm to menagerie. by Baruch Tabanpour <btaba@google.com> - c823306 Fix png link. (#229) by btaba <btaba@google.com> PiperOrigin-RevId: 854344968
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‎CONTRIBUTORS.md‎

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- [Albert Li](https://github.com/alberthli)
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- [Alper Ahmetoglu](https://github.com/alper111)
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- [Andreas Kuhner](https://github.com/AndreasKuhner)
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- [Andrew Luo](https://github.com/Andrew-Luo1)
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- [Ayzaan Wahid](https://github.com/ayzaan)
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- [Chintan Desai](https://github.com/hello-chintan)
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- [Dada Tian](https://github.com/lonelyfluency)
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- [Eugene Frizza](https://github.com/eufrizz)
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- [Haochen Shi](https://github.com/hshi74)
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- [Ian Noh](https://github.com/dongridong)
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- [Jason Chen](https://github.com/chenxin199305)
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- [Jonathan Zamora](https://github.com/jonzamora)

‎LICENSE‎

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‎README.md‎

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|<img src="assets/agilex_piper-piper.png" width=100>|<img src="assets/rethink_robotics_sawyer-sawyer.png" width=100>|<img src="assets/universal_robots_ur10e-ur10e.png" width=100>|<img src="assets/universal_robots_ur5e-ur5e.png" width=100>|<img src="assets/trossen_vx300s-vx300s.png" width=100>|
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|<img src="assets/ufactory_xarm7-xarm7.png" width=100>|<img src="assets/unitree_z1-z1.png" width=100>|<img src="assets/aloha-aloha.png" width=100>|<img src="assets/robotiq_2f85-2f85.png" width=100>|<img src="assets/franka_emika_panda-hand.png" width=100>|
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|<img src="assets/ufactory_xarm7-hand.png" width=100>|<img src="assets/wonik_allegro-left_hand.png" width=100>|<img src="assets/shadow_hand-left_hand.png" width=100>|<img src="assets/leap_hand-left_hand.png" width=100>|<img src="assets/shadow_dexee-shadow_dexee.png" width=100>|
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|<img src="assets/google_robot-robot.png" width=100>|<img src="assets/unitree_a1-a1.png" width=100>|<img src="assets/anybotics_anymal_b-anymal_b.png" width=100>|<img src="assets/anybotics_anymal_c-anymal_c.png" width=100>|<img src="assets/google_barkour_v0-barkour_v0.png" width=100>|
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|<img src="assets/google_barkour_vb-barkour_vb.png" width=100>|<img src="assets/unitree_go1-go1.png" width=100>|<img src="assets/unitree_go2-go2.png" width=100>|<img src="assets/boston_dynamics_spot-spot_arm.png" width=100>|<img src="assets/agility_cassie-cassie.png" width=100>|
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|<img src="assets/unitree_g1-g1.png" width=100>|<img src="assets/unitree_h1-h1.png" width=100>|<img src="assets/robotis_op3-op3.png" width=100>|<img src="assets/booster_t1-t1.png" width=100>|<img src="assets/pal_talos-talos.png" width=100>|
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|<img src="assets/bitcraze_crazyflie_2-cf2.png" width=100>|<img src="assets/skydio_x2-x2.png" width=100>|<img src="assets/flybody-fruitfly.png" width=100>|<img src="assets/realsense_d435i-d435i.png" width=100>||
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|<img src="assets/google_robot-robot.png" width=100>|<img src="assets/hello_robot_stretch-stretch.png" width=100>|<img src="assets/unitree_a1-a1.png" width=100>|<img src="assets/anybotics_anymal_b-anymal_b.png" width=100>|<img src="assets/anybotics_anymal_c-anymal_c.png" width=100>|
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|<img src="assets/google_barkour_v0-barkour_v0.png" width=100>|<img src="assets/google_barkour_vb-barkour_vb.png" width=100>|<img src="assets/unitree_go1-go1.png" width=100>|<img src="assets/unitree_go2-go2.png" width=100>|<img src="assets/boston_dynamics_spot-spot_arm.png" width=100>|
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|<img src="assets/agility_cassie-cassie.png" width=100>|<img src="assets/unitree_g1-g1.png" width=100>|<img src="assets/unitree_h1-h1.png" width=100>|<img src="assets/robotis_op3-op3.png" width=100>|<img src="assets/booster_t1-t1.png" width=100>|
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|<img src="assets/pal_talos-talos.png" width=100>|<img src="assets/toddlerbot_2xc-toddlerbot_2xc.png" width=100>|<img src="assets/bitcraze_crazyflie_2-cf2.png" width=100>|<img src="assets/skydio_x2-x2.png" width=100>|<img src="assets/flybody-fruitfly.png" width=100>|
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|<img src="assets/realsense_d435i-d435i.png" width=100>|||||
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- [Getting Started](#getting-started)
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- [Prerequisites](#prerequisites)
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| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️|
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| Unitree G1 | Unitree Robotics | 37 | [BSD-3-Clause](unitree_g1/LICENSE) |✔️|
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| Unitree H1 | Unitree Robotics | 19 | [BSD-3-Clause](unitree_h1/LICENSE) |✖️|
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| ToddlerBot 2XC | Stanford University | 30 | [MIT](toddlerbot_2xc/LICENSE) |✔️|
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| ToddlerBot 2XM | Stanford University | 30 | [MIT](toddlerbot_2xm/LICENSE) |✔️|
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**Quadrupeds.**
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‎assets/toddlerbot_2xc-toddlerbot_2xc.png‎

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‎franka_emika_panda/mjx_hand.xml‎

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<mujoco model="panda_hand">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<default>
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<default class="panda">
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<material specular="0.5" shininess="0.25"/>
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<default class="finger">
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<joint axis="0 1 0" type="slide" range="0 0.04"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="collision">
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<geom group="3" type="mesh" contype="0" conaffinity="0"/>
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<default class="primitive_collision">
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<geom group="3" type="box" contype="0" conaffinity="0"
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condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
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<default class="fingertip_pad_collision_1">
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<geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011"/>
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</default>
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<default class="fingertip_pad_collision_2">
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<geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022"/>
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</default>
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<default class="fingertip_pad_collision_3">
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<geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0"/>
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</default>
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<default class="fingertip_pad_collision_4">
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<geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3"/>
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</default>
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</default>
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</default>
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</default>
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</default>
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<asset>
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<material class="panda" name="white" rgba="1 1 1 1"/>
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<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
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<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
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<mesh name="hand_c" file="hand.stl"/>
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<mesh file="hand_0.obj"/>
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<mesh file="hand_1.obj"/>
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<mesh file="hand_2.obj"/>
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<mesh file="hand_3.obj"/>
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<mesh file="hand_4.obj"/>
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<mesh file="finger_0.obj"/>
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<mesh file="finger_1.obj"/>
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</asset>
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<worldbody>
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<body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
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<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
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<geom mesh="hand_0" material="off_white" class="visual"/>
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<geom mesh="hand_1" material="black" class="visual"/>
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<geom mesh="hand_2" material="black" class="visual"/>
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<geom mesh="hand_3" material="white" class="visual"/>
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<geom mesh="hand_4" material="off_white" class="visual"/>
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<geom mesh="hand_c" class="collision"/>
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<geom name="hand_capsule" type="capsule"
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class="collision" conaffinity="1" size="0.04 0.06"
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quat="1 1 0 0" pos="0 0 0.03"/>
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<site name="gripper" pos="0 0 0.1"/>
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<body name="left_finger" pos="0 0 0.0584">
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<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
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<joint name="finger_joint1" class="finger" damping="10"/>
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<geom mesh="finger_0" material="off_white" class="visual"/>
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<geom mesh="finger_1" material="black" class="visual"/>
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<geom mesh="finger_0" class="collision"/>
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<geom class="fingertip_pad_collision_1"/>
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<geom class="fingertip_pad_collision_2"/>
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<geom class="fingertip_pad_collision_3"/>
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<geom name="left_finger_pad" class="fingertip_pad_collision_4"/>
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</body>
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<body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
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<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
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<joint name="finger_joint2" class="finger" damping="10"/>
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<geom mesh="finger_0" material="off_white" class="visual"/>
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<geom mesh="finger_1" material="black" class="visual"/>
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<geom mesh="finger_0" class="collision"/>
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<geom class="fingertip_pad_collision_1"/>
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<geom class="fingertip_pad_collision_2"/>
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<geom class="fingertip_pad_collision_3"/>
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<geom name="right_finger_pad" class="fingertip_pad_collision_4"/>
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</body>
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</body>
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</worldbody>
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<equality>
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<joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
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</equality>
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<actuator>
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<general class="panda" name="actuator8" joint="finger_joint1"
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ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200"/>
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</actuator>
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</mujoco>

‎franka_fr3_v2/CHANGELOG.md‎

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# Changelog – Franka Robotics FR3 Description
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All notable changes to this model will be documented in this file.
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## [2025-07-21]
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- Added the fr3_v2 meshes, xml, etc.

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