Open Source RoboticsRobots, software & learning

MuJoCo Menagerie

Software

Curated MuJoCo robot model library with per-model MJCF, scene, mesh and license files; it is separate from the simulator engine. [1] [3]

Installation & first result →Official websiteGetting started

For
Robotics simulation developers selecting a MuJoCo model [1]
Source rights
Named licenses are documented by part. Review licenses
Unknowns
operating system, compute requirements not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware

Requirements · Research details and dates

On this page

Overview

MuJoCo Menagerie is a collection of robot simulation models, separate from the MuJoCo physics engine. A model directory normally contains MJCF, a scene, visual/collision assets, a README and a license. That makes it a concrete starting point for a named robot simulation, not a manufacturing design for the physical robot. [1] [4]

Is this for you?

Known limitations
  • Model licensing and minimum simulator versions vary across directories; no blanket license applies to every model.
  • Robot meshes and collision geometry are simulation assets, not verified manufacturing CAD or physical fidelity evidence.
  • The package release and an arbitrary repository revision must not be treated as identical.

Editorial scope assessment from the cited implementation/documentation; no execution or compatibility test.

[1] [2] [3] [4] [5] [6] · Editorial assessment

What you need

Dependencies
  • MuJoCo version required by each model; selected SO101 README requires>=3.1.3

[1] [2] [3] [4] [5] [6]

Installation & first result

Open the upstream getting-started guide [1]

  • Choose one model directory, read its README and license, then inspect its scene.xml and MJCF before attempting viewer or Python package loading.
  • Preserve exact source/dependency/model versions and evaluate the selected workflow before connecting physical hardware or reusing data.

Editorial scope assessment from the cited implementation/documentation; no execution or compatibility test.

[1] [2] [3] [4] [5] [6] · Editorial assessment

Installation

Choose one model directory, read its README and license, then inspect its scene.xml and MJCF before attempting viewer or Python package loading.

Editorial scope assessment from the cited implementation/documentation; no execution or compatibility test.

[1] [2] [3] [4] [5] [6] · Editorial assessment

Hardware, models & data

Inputs and outputs

Robot MJCF/XML, scene definitions and visual/collision meshes to MuJoCo simulation models.

Editorial scope assessment from the cited implementation/documentation; no execution or compatibility test.

[1] [3] · Editorial assessment

Project notes

Treat a model directory as the unit of selection

The root README describes viewer and Python-package routes, but each model's own README specifies its minimum MuJoCo version. The selected SO101 example requires MuJoCo 3.1.3 or later. Its description records changes such as the implicitfast integrator and added primitive collision geometries; those details affect the model being simulated and should not be silently transferred to different upstream assets. [1] [5]

This review selects robotstudio_so101 at repository revision b0655057a9df2abe39ea7fc989914ba6f248301c. The relevant paths are robotstudio_so101/so101.xml for the model and robotstudio_so101/scene.xml for its scene. Preserve that identity when comparing it with a packaged or upstream SO101 model. [3] [4] [5]

The inspected SO101 MJCF contains joint, actuator and collision configuration. We inspected that text, not an executed scene. Before using a simulation result as a robot decision, examine the selected model's parameters, mesh dependencies and derivation notes, and evaluate the aspects that matter for the task. Curated source is not independent evidence of mass, contact or actuator fidelity on your physical build. [3] [5]

What we checked

Source research only. Selected implementation/model text, repository tree and license declarations were inspected. No upstream compilation, dependency installation, simulator, network/USB/device integration, data collection, benchmark or physical robot test was performed. Source files are linked rather than redistributed; external services and paid products are not endorsed.

Not yet established

  • Requirements: operating system, host computer
  • Version-specific hardware compatibility (ecosystem tags alone do not establish it)

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Nov 1, 2026
Sources last checked
Nov 1, 2026
Next review
Dec 1, 2026
Reviewed revision
b065505

Source files and licenses

Distinct robot-facing model contribution with actual implementation/model content and a bounded documented next step. Review covers source artifacts, not operational performance or a complete tested deployment.

LayerAvailability / license
softwareavailable · Per-model licenses; selected SO101 is Apache-2.0
Declaration for the scoped source implementation/documentation; dependencies, external services, model/data assets and inherited file-specific terms require separate checks. No blanket redistribution or operational clearance. [1] [2] [3]
documentationavailable · Per-model licenses; selected SO101 is Apache-2.0
Declaration for the scoped source implementation/documentation; dependencies, external services, model/data assets and inherited file-specific terms require separate checks. No blanket redistribution or operational clearance. [1] [2] [3]

This profile is scoped to source implementation/model descriptions and an initial inspection workflow; no physical manufacturing design, pretrained checkpoint or dataset is selected for redistribution or tested deployment.

Check rights per model

The root license file is a collection of model-specific notices. The inspected SO101 directory supplies an Apache-2.0 license, but that does not establish the same grant for every other robot model, mesh or purchased component represented in the collection. Preserve the selected directory's notice when redistributing assets. [2] [6]

The README also distinguishes a versioned Python package that pins its downloaded models from a repository checkout. Record which one you selected. No model download through that package, MuJoCo compilation, viewer execution, physical calibration or hosted-preview reuse review was performed here. [1]

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history