{
  "repo": "google-deepmind/mujoco_menagerie",
  "commit": "b846dd12bc459d776cccb3dee0b1d02acbf7a9c7",
  "scan_summary": {
    "xml_files_scanned": 259,
    "parse_errors": 0,
    "equality_joint_constraints": 209,
    "assets_with_equality_joint_constraints": 22,
    "files_with_equality_joint_constraints": 38,
    "multi_dof_refs_found": 0
  },
  "type_pair_counts": {
    "hinge-hinge": 187,
    "slide-hinge": 10,
    "slide-slide": 12
  },
  "assets_with_counts": {
    "agilex_piper": "1 hinge-hinge gripper/finger coupling",
    "aloha": "2 hinge-hinge gripper finger mimic constraints",
    "arx_l5": "1 hinge-hinge gripper coupling",
    "franka_emika_panda": "4 hinge-hinge parallel finger mimic constraints across variants",
    "hello_robot_stretch": "5 hinge-hinge telescoping arm/gripper couplings",
    "hello_robot_stretch_3": "5 hinge-hinge telescoping arm/gripper couplings",
    "i2rt_yam": "1 hinge-hinge gripper coupling",
    "iit_softfoot": "45 hinge-hinge phalanx/virtual-link couplings",
    "ms_human_700": "56 constraints: 46 hinge-hinge and 10 slide-hinge biomechanical polynomial couplings",
    "pal_talos": "6 hinge-hinge gripper linkage couplings",
    "rainbow_robotics_rby1": "6 slide-slide gripper finger slide couplings",
    "robotiq_2f85": "1 hinge-hinge gripper driver mimic",
    "robotiq_2f85_v4": "2 hinge-hinge gripper driver mimic constraints",
    "stanford_tidybot": "1 hinge-hinge Robotiq-style gripper mimic",
    "tetheria_aero_hand_open": "10 hinge-hinge finger couplings",
    "toddlerbot_2xc": "27 hinge-hinge geared/driven joint mimic constraints across variants",
    "toddlerbot_2xm": "27 hinge-hinge geared/driven joint mimic constraints across variants",
    "trossen_vx300s": "1 hinge-hinge gripper fingers",
    "trossen_wx250s": "1 slide-slide gripper fingers",
    "trossen_wxai": "3 slide-slide carriage/finger couplings",
    "ufactory_lite6": "2 slide-slide gripper variants",
    "ufactory_xarm7": "2 hinge-hinge gripper driver mimic constraints"
  },
  "interpretation": [
    "MuJoCo Menagerie contains many practical coupled/mimic mechanisms, but they are scalar equality joint constraints.",
    "No equality joint constraint referenced a ball/free joint or a true vector-valued joint coordinate.",
    "The closest multi-DOF mechanisms are collections of scalar constraints, for example ms_human_700 shoulder/knee/wrist couplings and iit_softfoot phalanx chains."
  ]
}