MuJoCo Menagerie

Google DeepMind's curated collection of high-quality MuJoCo robot models.

MuJoCo Menagerie is an open-source model collection maintained by Google DeepMind, gathering MJCF models (MuJoCo's robot description files) for a large number of common robots — arms like the Franka and UR5e, quadrupeds and humanoids like the Unitree Go2 and G1, the ALOHA dual-arm platform, and dexterous hands like Shadow's. Every model has had its mass, inertia, joint limits, actuators, and collision geometry cleaned up, along with notes on its source and license. Converting a robot from URDF yourself often runs into issues like wrong collision geometry or missing parameters, and using Menagerie directly skips that work — projects like MuJoCo Playground and mink use it as their default source of models.

ExampleDownload the unitree_g1 directory from Menagerie and load scene.xml directly in the MuJoCo viewer to look at the Unitree G1.

Related

MuJoCo (Multi-Joint dynamics with Contact) · MJCF (MuJoCo XML Format) · MuJoCo Playground · mink (MuJoCo inverse kinematics) · Simulation Assets · Google DeepMind

Sources

mujoco_menagerie GitHub