68 models · no clone · no install
MuJoCo Menagerie, in the browser
DeepMind's collection of high-quality MuJoCo models — quadrupeds, humanoids, arms, hands — opened in a tab. Normally each one costs a 1.8 GB clone and a working MuJoCo install before you can see whether it is the robot you were looking for.
These pages are not a mirror. A model is fetched from the upstream repository when somebody asks for it, kept with its own licence and a link back, and every page names who made the robot. The collection is DeepMind's; the models belong to the teams that built them.
Quadrupeds
- ANYmal B ANYbotics · BSD 3-Clause · 56 MB
- ANYmal C ANYbotics · BSD 3-Clause · 18 MB
- Boston Dynamics Spot Boston Dynamics · BSD 3-Clause · 53 MB
- Google Barkour v0 Google · Apache 2.0 · 12 MB
- Google Barkour vB Google · Apache 2.0 · 6 MB
- Unitree A1 Unitree · BSD 3-Clause · 20 MB
- Unitree Go1 Unitree · BSD 3-Clause · 12 MB
- Unitree Go2 Unitree · BSD 3-Clause · 29 MB
Humanoids
- Agility Cassie Agility Robotics · MIT · 7 MB
- Apptronik Apollo Apptronik · Apache 2.0 · 69 MB
- Berkeley Humanoid Berkeley · BSD 3-Clause · 28 MB
- Booster T1 Booster · Apache 2.0 · 10 MB
- Fourier N1 Fourier · Apache 2.0 · 63 MB
- MS-Human-700 Ms · Apache 2.0 · 27 MB
- PNDbotics Adam_lite PNDbotics · MIT · 170 MB
- Pal Talos PAL Robotics · Apache 2.0 · 10 MB
- Rainbow Robotics RBY1 Rainbow Robotics · Apache 2.0 · 121 MB
- Robotis OP3 Robotis · Apache 2.0 · 46 MB
- ToddlerBot 2XC Toddlerbot · MIT · 65 MB
- ToddlerBot 2XM Toddlerbot · MIT · 65 MB
- Unitree G1 Unitree · BSD 3-Clause · 38 MB
- Unitree H1 Unitree · BSD 3-Clause · 16 MB
Arms
- ALOHA Trossen · BSD 3-Clause · 19 MB
- Agilex Piper AgileX · MIT · 33 MB
- Arx L5 ARX · BSD 3-Clause · 12 MB
- Dynamixel 2R Dynamixel · MIT · 5 MB
- Flexiv Robotics Rizon4 Flexiv · Apache 2.0 · 6 MB
- Flexiv Robotics Rizon4S Flexiv · Apache 2.0 · 5 MB
- Franka Emika Panda Franka · Apache 2.0 · 35 MB
- Franka Robotics FR3 Franka · Apache 2.0 · 56 MB
- Franka Robotics FR3 Franka · Apache 2.0 · 59 MB
- KUKA LBR iiwa 14 KUKA · BSD 3-Clause · 7 MB
- Kinova Gen3 Kinova · BSD 3-Clause · 7 MB
- Lite 6 UFACTORY · BSD 3-Clause · 7 MB
- Low-Cost Robot Arm (MJCF) Low · Apache 2.0 · 7 MB
- Rethink Robotics Sawyer Rethink · Apache 2.0 · 30 MB
- Seeed Studio reBot DevArm Seeed · MIT · 14 MB
- Standard Open Arm-100 5DOF - Version 1.3 Trs · Apache 2.0 · 4 MB
- The Robot Studio SO101 Robotstudio · Apache 2.0 · 18 MB
- Trossen WXAI (MJCF) Trossen · BSD 3-Clause · 8 MB
- Unitree Z1 Unitree · BSD 3-Clause · 13 MB
- Universal Robots UR10e Universal Robots · BSD 3-Clause · 34 MB
- Universal Robots UR5e Universal Robots · BSD 3-Clause · 31 MB
- ViperX 300 6DOF Trossen · BSD 3-Clause · 3 MB
- WidowX 250 6DOF Trossen · BSD 3-Clause · 2 MB
- Yet Another Manipulator (YAM) I2Rt · MIT · 6 MB
- xArm7 UFACTORY · BSD 3-Clause · 6 MB
Hands and grippers
- Allegro Hand V3 Wonik · BSD 2-Clause · 2 MB
- Leap Hand LEAP · MIT · 15 MB
- Robotiq 2F-85 Robotiq · BSD 2-Clause · 4 MB
- Robotiq 2F-85 Robotiq · BSD 2-Clause · 20 MB
- Shadow DEX-EE Hand Shadow · Apache 2.0 · 10 MB
- Shadow Hand E3M5 Shadow · Apache 2.0 · 4 MB
- Sharpa Wave Sharpa · Apache 2.0 · 15 MB
- Tetheria Aero Hand Open (MJCF) Tetheria · Apache 2.0 · 9 MB
- Umi Gripper Umi · MIT · 2 MB
Mobile bases
- Google Robot Google · Apache 2.0 · 7 MB
- Hello Robot Stretch 2 Hello Robot · BSD 3-Clause · 74 MB
- Hello Robot Stretch 3 Hello Robot · Apache 2.0 · 76 MB
- Pal Tiago PAL Robotics · Apache 2.0 · 6 MB
- Pal Tiago Dual PAL Robotics · Apache 2.0 · 8 MB
- Robot soccer kit omnidirectional Robot · MIT · 6 MB
- Stanford TidyBot Stanford · MIT · 11 MB
Drones
- Bitcraze Crazyflie 2 Bitcraze · MIT · 2 MB
- Skydio X2 Skydio · Apache 2.0 · 2 MB
Everything else
- Flybody Janelia · Apache 2.0 · 137 MB
- IIT SoftFoot Iit · BSD 3-Clause · 3 MB
- Realsense D435i Intel · Apache 2.0 · 44 MB
How this works
Opening a model fetches its scene and the mesh files that scene references — five to thirty megabytes for a typical robot, rather than the whole collection — and hands it to MuJoCo running in your tab. From there it is a model like any other on this site: look inside it, simulate it, or convert it to URDF, SDF or USD.
Every model carries its own licence — Apache 2.0, BSD or MIT, depending on who wrote it — and its page links to the folder it came from so you can read the terms and the README the authors wrote. If you use one in your own work, that folder is who to credit.