Bundled Assets

Articulated Models

The following color scheme is used to represent the articulated models below.

digraph { graph [aspect=1 concentrate=true ordering=out ratio=compress]; node [ fontname=Roboto ]; edge [ fontname=Roboto ]; A [label="Root Rigid Body" shape="polygon" style="filled" fillcolor="#6F6F6F"] B [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"] C [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"] D [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"] E [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"] F [label="Rigid Body" shape="polygon" style="filled" fillcolor="#76b900"] A -> B[label="Revolute Joint" fillcolor="#4ECDC4" color="#4ECDC4"] C -> D[label="Fixed Joint" fillcolor="#556270" color="#556270"] E -> F[label="Prismatic Joint" fillcolor="#C7F464" color="#C7F464"] }

MJCF Models

Ant assets/mjcf/nv_ant.xml

digraph { graph [aspect=1 concentrate=true ordering=out ratio=compress ]; node [ fontname=Roboto ]; edge [ fontname=Roboto ]; torso [shape="polygon" style="filled" fillcolor="#6F6F6F"] front_left_leg [shape="polygon" style="filled" fillcolor="#76b900"] front_left_foot [shape="polygon" style="filled" fillcolor="#76b900"] front_right_leg [shape="polygon" style="filled" fillcolor="#76b900"] front_right_foot [shape="polygon" style="filled" fillcolor="#76b900"] left_back_leg [shape="polygon" style="filled" fillcolor="#76b900"] left_back_foot [shape="polygon" style="filled" fillcolor="#76b900"] right_back_leg [shape="polygon" style="filled" fillcolor="#76b900"] right_back_foot [shape="polygon" style="filled" fillcolor="#76b900"] torso -> front_left_leg [label="hip_1" fillcolor="#4ECDC4" color="#4ECDC4"] front_left_leg -> front_left_foot [label="ankle_1" fillcolor="#4ECDC4" color="#4ECDC4"] torso -> front_right_leg [label="hip_2" fillcolor="#4ECDC4" color="#4ECDC4"] front_right_leg -> front_right_foot [label="ankle_2" fillcolor="#4ECDC4" color="#4ECDC4"] torso -> left_back_leg [label="hip_3" fillcolor="#4ECDC4" color="#4ECDC4"] left_back_leg -> left_back_foot [label="ankle_3" fillcolor="#4ECDC4" color="#4ECDC4"] torso -> right_back_leg [label="hip_4" fillcolor="#4ECDC4" color="#4ECDC4"] right_back_leg -> right_back_foot [label="ankle_4" fillcolor="#4ECDC4" color="#4ECDC4"] }

Humanoid assets/mjcf/nv_humanoid.xml

digraph { graph [aspect=1 concentrate=true ordering=out ratio=compress ]; node [ fontname=Roboto ]; edge [ fontname=Roboto ]; torso [shape="polygon" style="filled" fillcolor="#6F6F6F"] lwaist [shape="polygon" style="filled" fillcolor="#76b900"] pelvis [shape="polygon" style="filled" fillcolor="#76b900"] right_thigh [shape="polygon" style="filled" fillcolor="#76b900"] right_shin [shape="polygon" style="filled" fillcolor="#76b900"] right_foot [shape="polygon" style="filled" fillcolor="#76b900"] left_thigh [shape="polygon" style="filled" fillcolor="#76b900"] left_shin [shape="polygon" style="filled" fillcolor="#76b900"] left_foot [shape="polygon" style="filled" fillcolor="#76b900"] right_upper_arm [shape="polygon" style="filled" fillcolor="#76b900"] right_lower_arm [shape="polygon" style="filled" fillcolor="#76b900"] left_upper_arm [shape="polygon" style="filled" fillcolor="#76b900"] left_lower_arm [shape="polygon" style="filled" fillcolor="#76b900"] torso -> lwaist [label="abdomen_z" fillcolor="#4ECDC4" color="#4ECDC4"] torso -> lwaist [label="abdomen_y" fillcolor="#4ECDC4" color="#4ECDC4"] lwaist -> pelvis [label="abdomen_x" fillcolor="#4ECDC4" color="#4ECDC4"] pelvis -> right_thigh [label="right_hip_x" fillcolor="#4ECDC4" color="#4ECDC4"] pelvis -> right_thigh [label="right_hip_z" fillcolor="#4ECDC4" color="#4ECDC4"] pelvis -> right_thigh [label="right_hip_y" fillcolor="#4ECDC4" color="#4ECDC4"] right_thigh -> right_shin [label="right_knee" fillcolor="#4ECDC4" color="#4ECDC4"] right_shin -> right_foot [label="right_ankle_y" fillcolor="#4ECDC4" color="#4ECDC4"] right_shin -> right_foot [label="right_ankle_x" fillcolor="#4ECDC4" color="#4ECDC4"] pelvis -> left_thigh [label="left_hip_x" fillcolor="#4ECDC4" color="#4ECDC4"] pelvis -> left_thigh [label="left_hip_z" fillcolor="#4ECDC4" color="#4ECDC4"] pelvis -> left_thigh [label="left_hip_y" fillcolor="#4ECDC4" color="#4ECDC4"] left_thigh -> left_shin [label="left_knee" fillcolor="#4ECDC4" color="#4ECDC4"] left_shin -> left_foot [label="left_ankle_y" fillcolor="#4ECDC4" color="#4ECDC4"] left_shin -> left_foot [label="left_ankle_x" fillcolor="#4ECDC4" color="#4ECDC4"] torso -> right_upper_arm [label="right_shoulder1" fillcolor="#4ECDC4" color="#4ECDC4"] torso -> right_upper_arm [label="right_shoulder2" fillcolor="#4ECDC4" color="#4ECDC4"] right_upper_arm -> right_lower_arm [label="right_elbow" fillcolor="#4ECDC4" color="#4ECDC4"] torso -> left_upper_arm [label="left_shoulder1" fillcolor="#4ECDC4" color="#4ECDC4"] torso -> left_upper_arm [label="left_shoulder2" fillcolor="#4ECDC4" color="#4ECDC4"] left_upper_arm -> left_lower_arm [label="left_elbow" fillcolor="#4ECDC4" color="#4ECDC4"] }

URDF Models

Anymal assets/urdf/anymal_b_simple_description/urdf/anymal.urdf

digraph { graph [aspect=1 concentrate=true ordering=out ratio=compress ]; node [ fontname=Roboto ]; edge [ fontname=Roboto ]; base [shape="polygon" style="filled" fillcolor="#6F6F6F"] LF_HIP [shape="polygon" style="filled" fillcolor="#76b900"] LF_THIGH [shape="polygon" style="filled" fillcolor="#76b900"] LF_SHANK [shape="polygon" style="filled" fillcolor="#76b900"] LF_ADAPTER [shape="polygon" style="filled" fillcolor="#76b900"] LF_FOOT [shape="polygon" style="filled" fillcolor="#76b900"] LH_HIP [shape="polygon" style="filled" fillcolor="#76b900"] LH_THIGH [shape="polygon" style="filled" fillcolor="#76b900"] LH_SHANK [shape="polygon" style="filled" fillcolor="#76b900"] LH_ADAPTER [shape="polygon" style="filled" fillcolor="#76b900"] LH_FOOT [shape="polygon" style="filled" fillcolor="#76b900"] RF_HIP [shape="polygon" style="filled" fillcolor="#76b900"] RF_THIGH [shape="polygon" style="filled" fillcolor="#76b900"] RF_SHANK [shape="polygon" style="filled" fillcolor="#76b900"] RF_ADAPTER [shape="polygon" style="filled" fillcolor="#76b900"] RF_FOOT [shape="polygon" style="filled" fillcolor="#76b900"] RH_HIP [shape="polygon" style="filled" fillcolor="#76b900"] RH_THIGH [shape="polygon" style="filled" fillcolor="#76b900"] RH_SHANK [shape="polygon" style="filled" fillcolor="#76b900"] RH_ADAPTER [shape="polygon" style="filled" fillcolor="#76b900"] RH_FOOT [shape="polygon" style="filled" fillcolor="#76b900"] base -> LF_HIP [label="LF_HAA" fillcolor="#4ECDC4" color="#4ECDC4"] LF_HIP -> LF_THIGH [label="LF_HFE" fillcolor="#4ECDC4" color="#4ECDC4"] LF_THIGH -> LF_SHANK [label="LF_KFE" fillcolor="#4ECDC4" color="#4ECDC4"] LF_SHANK -> LF_ADAPTER [label="LF_SHANK_TO_ADAPTER" fillcolor="#556270" color="#556270"] LF_ADAPTER -> LF_FOOT [label="LF_ADAPTER_TO_FOOT" fillcolor="#556270" color="#556270"] base -> LH_HIP [label="LH_HAA" fillcolor="#4ECDC4" color="#4ECDC4"] LH_HIP -> LH_THIGH [label="LH_HFE" fillcolor="#4ECDC4" color="#4ECDC4"] LH_THIGH -> LH_SHANK [label="LH_KFE" fillcolor="#4ECDC4" color="#4ECDC4"] LH_SHANK -> LH_ADAPTER [label="LH_SHANK_TO_ADAPTER" fillcolor="#556270" color="#556270"] LH_ADAPTER -> LH_FOOT [label="LH_ADAPTER_TO_FOOT" fillcolor="#556270" color="#556270"] base -> RF_HIP [label="RF_HAA" fillcolor="#4ECDC4" color="#4ECDC4"] RF_HIP -> RF_THIGH [label="RF_HFE" fillcolor="#4ECDC4" color="#4ECDC4"] RF_THIGH -> RF_SHANK [label="RF_KFE" fillcolor="#4ECDC4" color="#4ECDC4"] RF_SHANK -> RF_ADAPTER [label="RF_SHANK_TO_ADAPTER" fillcolor="#556270" color="#556270"] RF_ADAPTER -> RF_FOOT [label="RF_ADAPTER_TO_FOOT" fillcolor="#556270" color="#556270"] base -> RH_HIP [label="RH_HAA" fillcolor="#4ECDC4" color="#4ECDC4"] RH_HIP -> RH_THIGH [label="RH_HFE" fillcolor="#4ECDC4" color="#4ECDC4"] RH_THIGH -> RH_SHANK [label="RH_KFE" fillcolor="#4ECDC4" color="#4ECDC4"] RH_SHANK -> RH_ADAPTER [label="RH_SHANK_TO_ADAPTER" fillcolor="#556270" color="#556270"] RH_ADAPTER -> RH_FOOT [label="RH_ADAPTER_TO_FOOT" fillcolor="#556270" color="#556270"] }

Franka Panda assets/urdf/franka_description/robots/franka_panda.urdf

digraph { graph [aspect=1 concentrate=true ordering=out ratio=compress ]; node [ fontname=Roboto ]; edge [ fontname=Roboto ]; panda_link0 [shape="polygon" style="filled" fillcolor="#6F6F6F"] panda_link1 [shape="polygon" style="filled" fillcolor="#76b900"] panda_link2 [shape="polygon" style="filled" fillcolor="#76b900"] panda_link3 [shape="polygon" style="filled" fillcolor="#76b900"] panda_link4 [shape="polygon" style="filled" fillcolor="#76b900"] panda_link5 [shape="polygon" style="filled" fillcolor="#76b900"] panda_link6 [shape="polygon" style="filled" fillcolor="#76b900"] panda_link7 [shape="polygon" style="filled" fillcolor="#76b900"] panda_hand [shape="polygon" style="filled" fillcolor="#76b900"] panda_leftfinger [shape="polygon" style="filled" fillcolor="#76b900"] panda_rightfinger [shape="polygon" style="filled" fillcolor="#76b900"] panda_link0 -> panda_link1 [label="panda_joint1" fillcolor="#4ECDC4" color="#4ECDC4"] panda_link1 -> panda_link2 [label="panda_joint2" fillcolor="#4ECDC4" color="#4ECDC4"] panda_link2 -> panda_link3 [label="panda_joint3" fillcolor="#4ECDC4" color="#4ECDC4"] panda_link3 -> panda_link4 [label="panda_joint4" fillcolor="#4ECDC4" color="#4ECDC4"] panda_link4 -> panda_link5 [label="panda_joint5" fillcolor="#4ECDC4" color="#4ECDC4"] panda_link5 -> panda_link6 [label="panda_joint6" fillcolor="#4ECDC4" color="#4ECDC4"] panda_link6 -> panda_link7 [label="panda_joint7" fillcolor="#4ECDC4" color="#4ECDC4"] panda_link7 -> panda_hand [label="panda_hand_joint" fillcolor="#556270" color="#556270"] panda_hand -> panda_leftfinger [label="panda_finger_joint1" fillcolor="#C7F464" color="#C7F464"] panda_hand -> panda_rightfinger [label="panda_finger_joint2" fillcolor="#C7F464" color="#C7F464"] }

Kinova Jaco assets/urdf/kinova_description/urdf/kinova.urdf

digraph { graph [aspect=1 concentrate=true ordering=out ratio=compress ]; node [ fontname=Roboto ]; edge [ fontname=Roboto ]; kinova_link_base [shape="polygon" style="filled" fillcolor="#6F6F6F"] kinova_link_1 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_2 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_3 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_4 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_5 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_6 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_end_effector [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_finger_1 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_finger_tip_1 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_finger_2 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_finger_tip_2 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_finger_3 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_finger_tip_3 [shape="polygon" style="filled" fillcolor="#76b900"] kinova_link_base -> kinova_link_1 [label="kinova_joint_1" fillcolor="#4ECDC4" color="#4ECDC4"] kinova_link_1 -> kinova_link_2 [label="kinova_joint_2" fillcolor="#4ECDC4" color="#4ECDC4"] kinova_link_2 -> kinova_link_3 [label="kinova_joint_3" fillcolor="#4ECDC4" color="#4ECDC4"] kinova_link_3 -> kinova_link_4 [label="kinova_joint_4" fillcolor="#4ECDC4" color="#4ECDC4"] kinova_link_4 -> kinova_link_5 [label="kinova_joint_5" fillcolor="#4ECDC4" color="#4ECDC4"] kinova_link_5 -> kinova_link_6 [label="kinova_joint_6" fillcolor="#4ECDC4" color="#4ECDC4"] kinova_link_6 -> kinova_end_effector [label="kinova_joint_end_effector" fillcolor="#556270" color="#556270"] kinova_link_6 -> kinova_link_finger_1 [label="kinova_joint_finger_1" fillcolor="#556270" color="#556270"] kinova_link_finger_1 -> kinova_link_finger_tip_1 [label="kinova_joint_finger_tip_1" fillcolor="#556270" color="#556270"] kinova_link_6 -> kinova_link_finger_2 [label="kinova_joint_finger_2" fillcolor="#556270" color="#556270"] kinova_link_finger_2 -> kinova_link_finger_tip_2 [label="kinova_joint_finger_tip_2" fillcolor="#556270" color="#556270"] kinova_link_6 -> kinova_link_finger_3 [label="kinova_joint_finger_3" fillcolor="#556270" color="#556270"] kinova_link_finger_3 -> kinova_link_finger_tip_3 [label="kinova_joint_finger_tip_3" fillcolor="#556270" color="#556270"] }

Cabinet assets/urdf/sektion_cabinet_model/urdf/sektion_cabinet.urdf

digraph { graph [aspect=1 concentrate=true ordering=out ratio=compress ]; node [ fontname=Roboto ]; edge [ fontname=Roboto ]; sektion [shape="polygon" style="filled" fillcolor="#6F6F6F"] door_left_link [shape="polygon" style="filled" fillcolor="#76b900"] door_left_nob_link [shape="polygon" style="filled" fillcolor="#76b900"] door_right_link [shape="polygon" style="filled" fillcolor="#76b900"] door_right_nob_link [shape="polygon" style="filled" fillcolor="#76b900"] drawer_bottom [shape="polygon" style="filled" fillcolor="#76b900"] drawer_handle_bottom [shape="polygon" style="filled" fillcolor="#76b900"] drawer_top [shape="polygon" style="filled" fillcolor="#76b900"] drawer_handle_top [shape="polygon" style="filled" fillcolor="#76b900"] sektion -> door_left_link [label="door_left_joint" fillcolor="#4ECDC4" color="#4ECDC4"] door_left_link -> door_left_nob_link [label="door_left_nob_transform" fillcolor="#556270" color="#556270"] sektion -> door_right_link [label="door_right_joint" fillcolor="#4ECDC4" color="#4ECDC4"] door_right_link -> door_right_nob_link [label="door_right_nob_transform" fillcolor="#556270" color="#556270"] sektion -> drawer_bottom [label="drawer_bottom_joint" fillcolor="#C7F464" color="#C7F464"] drawer_bottom -> drawer_handle_bottom [label="drawer_handle_bottom_joint" fillcolor="#556270" color="#556270"] sektion -> drawer_top [label="drawer_top_joint" fillcolor="#C7F464" color="#C7F464"] drawer_top -> drawer_handle_top [label="drawer_handle_top_joint" fillcolor="#556270" color="#556270"] }

Textures

The following texture assets are available in gym for visualization and domain randomization purposes

  • background_texture_metal_rust.jpg

  • metal_wall_iron_fence.jpg

  • particle_board_paint_aged.jpg

  • pebble_stone_texture_nature.jpg

  • texture_background_wall_paint_2.jpg

  • texture_background_wall_paint_3.jpg

  • texture_license.txt

  • texture_stone_stone_texture_0.jpg

  • texture_wood_brown_1033760.jpg