MuJoCo Menagerie

Google DeepMind / Menagerie contributors

A collection of robot models for MuJoCo, including LEAP, Allegro, Shadow Hand and DEX-EE models.

What you can explore

Find a starting model, inspect its actuation and compare the assumptions behind different hands.

Before you use it

Model quality and completeness vary. A model is not independent validation of the corresponding physical hand.

Original contributors

Kevin Zakka, Yuval Tassa and MuJoCo Menagerie contributors

License / access: Per-model licenses · shared repository content: Apache 2.0

Models, notes & licenses

Editorial reference · checked 2026-09-22