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
Start with the right setup.
- Environment
- MuJoCo
- Embodiment
- Model-specific; includes dexterous hands
What you need
Install MuJoCo; select the exact model folder and read its license.
First useful check
Open its scene and inspect joint names, ranges and actuators.
Where it stops
Asset availability does not validate contact physics or real-hand performance. Check each model’s license.
Editorial reference · checked 2026-09-22