#119119th of 206 in ML frameworks and librariesFor science, health and research, robotics
mujoco_menagerie
Curated MuJoCo robot models for arms, quadrupeds, humanoids and drones
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- Stars
- 4.4k
- License
- custom license
- Last commit
- Nov 2026
- Last release
- Sep 2026
- Language
- Python
3,314 on 22 Apr 20264,357 on 11 Nov 2026
From GitHub's daily star counts.
Checked on GitHub.
Overview
A Google DeepMind collection of MJCF robot models for the MuJoCo physics engine, covering Unitree, ANYmal, Franka Panda, UR5e, Cassie and others. Each model directory has meshes, an MJCF XML, a scene.xml, a license and a README on how the model was built. It installs with `pip install mujoco-menagerie` or by cloning the repo, and gallery thumbnails open in a browser viewer.
Who it is for: Robotics and RL researchers simulating robots in MuJoCo
Strengths
- Every model follows the same layout: model XML, scene.xml, meshes, LICENSE and build README
- Python package loads a model with mm.load('unitree_go2') and exposes an editable MjSpec
- Some models ship MJX variants for JAX-based simulation
- In-browser previews through live.mujoco.org need no install
Weaknesses
- Quality grades (A+ to C) are defined but not yet applied to models
- Licenses differ per model (BSD-3-Clause, Apache-2.0, MIT), so check each LICENSE file
- Not all models have an MJX variant
- Only useful with MuJoCo; each model sets its own minimum MuJoCo version
What it needs
- Needs mujoco
- Models: MJCF XML, STL meshes, OBJ meshes, MJX
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