0 of 104 robots · URDF and MJCF · no clone, no install
Robot models you can open in a browser
Quadrupeds, humanoids, arms and hands — from DeepMind's MuJoCo Menagerie and from the repositories the makers keep themselves. Look inside one, simulate it, convert it or download it as a folder that works, in a tab. Normally each of these costs a clone and a working install before you can tell whether it is the robot you wanted.
Not a mirror: a model is fetched from the repository it lives in when somebody asks for it, and keeps its own licence and a link back. Every robot belongs to the team that built it.
The MuJoCo Menagerie, and what is added to it
The MuJoCo Menagerie is Google DeepMind's curated collection of robot models written for MuJoCo: each one an MJCF tuned to simulate well, with its meshes, a scene to stage it in and the licence its makers chose. 68 of them are here, and each opens in the lab exactly as the collection ships it, on the same engine.
What the Menagerie does not hold is the robots whose makers publish only a URDF. The other 36 are those: descriptions taken from the repositories their makers keep, pinned to a commit, and listed only after every mesh they name was found. Either kind leaves in the other format — a Menagerie robot downloads as URDF for ROS, a URDF robot as MJCF for MuJoCo — and the download says what the conversion could not carry across.
How this works
Opening a model fetches its description and the meshes that description references — five to thirty megabytes for a typical robot, rather than the whole repository — and hands it to MuJoCo running in your tab. After that it is a model like any other here: look inside it, simulate it, author a movement for it, or convert it to URDF, SDF or USD.
A download is a folder rather than a file: the description in the format you asked for, the
meshes it names under meshes/, the licence, and a note saying where the robot
came from. Mesh paths are rewritten to point inside that folder, so it opens where you put
it instead of only inside the ROS workspace its author had.
Every model carries the licence its authors chose — Apache 2.0, BSD or MIT — and its page links to the folder it came from. If you use one in your own work, credit that folder rather than this page.