MuJoCo Menagerie Robot Models
Provider：Google DeepMind
DeepMind-curated MJCF robot models with full dynamics, joint limits and actuators — Apache-2.0, ready to run in MuJoCo.
At a glance
- Readiness
- L3 · Behavior ready
- Rationale
- Curated high-quality MJCF robot models with complete kinematics/dynamics, joint limits and actuator definitions, ready to simulate in MuJoCo; rated L3.
- Scale
- 30+ robot models (The repository keeps growing; public material reports 30+ robot models. Checked 2026-10-24.)
- License
- Apache-2.0 — Apache-2.0 — commercial use allowed, keep the license notice.
- Access
- Open
- Formats
- mjcf
- Runtimes
- mujoco
- Physics properties
- Collision geometryMass / inertiaInertia tensorJoint structureActuatorFriction
- Domain
- Solid / Structure
- Published
- 2026-10-24
- Updated
- 2026-10-24
Why it is listed
Menagerie is the reference set of robot models for MuJoCo, covering popular arms and hands from Universal Robots, Franka, Robotiq, Shadow, ANYmal and others.
Readiness assessment
Models ship with collision meshes, inertial properties and actuator definitions, so no property reconstruction is needed before training.
Practical notes
The Apache-2.0 license makes it one of the few robot model sets that can be used commercially without negotiation.
Disclaimer: license and usage terms follow the official source — verify them yourself before use. This site indexes and links only; it does not host or mirror any asset file.
License and usage terms are those of the official source — verify before use. No asset file is hosted or mirrored on this site.