codepawl/menagerie-glb

MuJoCo Menagerie as GLB

79 robots from MuJoCo Menagerie, each converted to one .glb that opens in a browser, Blender or any glTF viewer, with its joints still attached.

Pose any of them in the browser: menagerie-glb-viewer

Use it in 67js

The film above is rendered in 67.js, a WebGL2 engine that AI agents drive, and every file in this pack loads in it directly. The files are meshopt compressed, so pass the decoder.

npm install 67js@npm:@codepawlhq/67js meshoptimizer

import { Renderer67 } from '67js';
import { loadGltf } from '67js/addons/gltf';
import { MeshoptDecoder } from 'meshoptimizer';

const url = 'https://huggingface.co/datasets/codepawl/menagerie-glb/resolve/main/unitree_g1-g1/unitree_g1-g1.glb';
const asset = await loadGltf(url, { decoders: { meshopt: MeshoptDecoder } });
const renderer = new Renderer67(document.querySelector('canvas'), asset.parts, { samples: 4 });
renderer.render({ eye: [2.4, 1.0, 0.8], target: [0, 0.7, 0] });

The robots keep MuJoCo's axes and face +X, so put the camera on the +X side.

	Menagerie folders	This pack
Size	1.97 GB (70 folders of MJCF, meshes, textures)	104.2 MB (79 .glb files)
Files per robot	an XML plus tens to hundreds of mesh files	one .glb
Joints	in the MJCF	1,406 joints, as glTF extras on the body nodes
Triangles		21,504,410 in total

Before optimizing, the converted files came to 629.3 MB.

Robot	Menagerie folder	.glb	Smaller by	Joints	Triangles
Unitree G1	39.7 MB	1.7 MB	23x	29	393,270
Franka Emika Panda	37.5 MB	2.7 MB	14x	9	134,888
Boston Dynamics Spot (with arm)	56.7 MB	2.8 MB	20x	19	162,787

What is in each file

• One glTF node per MuJoCo body, named as in the MJCF, in the same parent-child tree, with the body's own local frame. A root node turns MuJoCo's Z-up into glTF's Y-up.
• Visual geometry only (geom groups 0 to 2); collision geoms are in <robot>_collision.glb. Mesh geoms come from MuJoCo's compiled model, so scale, refpos and refquat are already applied; primitive geoms (box, sphere, capsule, cylinder, ellipsoid) are tessellated.
• MJCF colours and textures as PBR materials. Textures are WebP, at most 1024 px.
• Each body node carries extras.mujoco_joints: for every joint on that body its name, type (hinge, slide, ball, free), axis, pos, range and qposadr. The root node carries qpos0, the MJCF keyframes, the actuators and joint couplings.
• Geometry is welded, deduplicated and compressed with EXT_meshopt_compression. three.js needs GLTFLoader.setMeshoptDecoder(MeshoptDecoder).

Posing a body in three.js: for a hinge, rotate the body node by angle - qpos0[qposadr] about axis, around the point pos (both in the body's frame); a slide moves the node along axis. viewer/pose.js in the Space does this for every joint type.

For web games and WebGPU: LODs and collision

Each robot folder also holds two kinds of file for games:

• lods/<robot>_lod1.glb to _lod3.glb: simpler meshes. Node names, frames and joint extras match the full file. A pose that works on one level works on all of them. Textures stay WebP.
• <robot>_collision.glb: MuJoCo's collision geoms, with the same body tree as the visual file. Mesh geoms are their convex hull, at most 128 points each, because MuJoCo collides with the hull of a mesh. Each geom node has extras.collision with the MuJoCo shape, size and friction, so an engine can make primitive colliders. The shapes are box, sphere, capsule, cylinder, ellipsoid and convex_mesh. 78 robots have one, with 2,168 geoms in all. dynamixel_2r has no collision geoms in Menagerie. apptronik_apollo turns contacts off, so its file holds its group 3 geoms and says so in the root extras.

Level	File	Triangles kept, median per robot	Pack size	Triangles, median of 20 robots
lod0	<robot>.glb	100%	104.2 MB	172,180
lod1	lods/<robot>_lod1.glb	50%	69.1 MB	117,084
lod2	lods/<robot>_lod2.glb	20%	49.6 MB	53,025
lod3	lods/<robot>_lod3.glb	6%	40.4 MB	18,432
collision	<robot>_collision.glb		23.2 MB	8,080

Some robots simplify much less, because meshopt stops at the error cap (0.01, 0.03 and 0.08 of the mesh size). Boston Dynamics Spot keeps 89% of its triangles at lod3. The textures are small (46 WebP images in 13 robots, 0.85 MB in all), so there is no KTX2 copy. KTX2 saves almost no video memory on textures this small.

Load time for one robot, median of 20 robots with 5 loads each:

	lod0	lod1	lod2	lod3	collision
three.js WebGPURenderer, load	10.3 ms	8.4 ms	6.3 ms	5.4 ms	4.1 ms
three.js WebGPURenderer, load and first frame	16.7 ms	13.9 ms	11.8 ms	10.9 ms	11.7 ms
three.js WebGLRenderer, load	10.4 ms	8.5 ms	6.6 ms	5.6 ms	4.3 ms
three.js WebGLRenderer, load and first frame	18.8 ms	16.2 ms	14.3 ms	13.0 ms	17.6 ms
67js, load	77.6 ms	48.5 ms	23.2 ms	11.9 ms	6.6 ms

Measured on an RTX 3060 in headless Chrome (ANGLE D3D11), three.js r187 and 67js 0.15.0, files from localhost. Every file loaded with no error in all three, and three.js drew every one. 67js drew 19 of the 20 robots. It draws the Tetheria Aero hand as an empty frame (67.js#468).

Game engines: Unreal Engine 5.8 does not import the .glb and LOD files, because its glTF importer does not read EXT_meshopt_compression ("Buffer from BIN chunk is too small"). The collision files are plain glTF and import as they are (G1: 36 static meshes). To import a visual file, decode it first with glTF Transform:

npx @gltf-transform/cli png unitree_g1-g1.glb unitree_g1-g1_plain.glb --formats "*"

This writes plain geometry and PNG textures. The G1 copy imported into Unreal 5.8 as 35 static meshes. Unity and Godot were not tested.

Checks

• Every robot was posed in MuJoCo and in the .glb at the same random joint state (within 60% of each joint's range), and every geom's world bounding box compared. Worst difference over all 79 robots: 0.046 mm (Google Robot).
• No scene-root node holds a copy of a nested mesh.
• thumbs/ holds a 512 px picture of each robot, rendered from its .glb in three.js.

Known limits

• Sites, tendons, lights and cameras are not exported. Collision meshes are convex hulls, not the MJCF mesh.
• Fully transparent geoms are skipped: Flybody (2), Hello Robot Stretch 2 (1), Hello Robot Stretch 3 (1), Rainbow Robotics RBY1 (66), Skydio X2 (1).
• Models without joints (rigid bodies): Bitcraze Crazyflie 2, Realsense D435i, Skydio X2.
• Shading uses MuJoCo's specular, shininess and reflectance mapped to roughness and metalness; it will not match MuJoCo's own renderer exactly.

Credits and licences

The models are the work of the MuJoCo Menagerie team at Google DeepMind and of each robot's original authors. This pack only changes the file format. Converted from Menagerie commit b0655057a9df2abe39ea7fc989914ba6f248301c.

Licences: Apache-2.0 35, BSD-3-Clause 25, MIT 14, BSD-2-Clause 4, BSD-3-Clause-Clear 1. LICENSES.md lists every robot with its licence and authors, and the LICENSE file sits next to each model. Left out: assets/ (Gallery pictures for Menagerie's README, not a model), python/ (Menagerie's Python helper package, not a model), test/ (Menagerie's test scripts, not a model).

Robot names, product names and logos belong to their owners. Their use here describes which robot a model shows and does not mean any company endorses this pack.

If you use the models in research, cite MuJoCo Menagerie:

@software{menagerie2022github,
  author = {Zakka, Kevin and Tassa, Yuval and {MuJoCo Menagerie Contributors}},
  title = {{MuJoCo Menagerie: A collection of high-quality simulation models for MuJoCo}},
  url = {http://github.com/google-deepmind/mujoco_menagerie},
  year = {2022},
}

All robots

Robot	Folder	Kind	Joints	Triangles	.glb	Licence
AgileX PiPER	agilex_piper	arm	8	210,031	1.5 MB	MIT
Agility Cassie	agility_cassie	biped	22	94,422	0.9 MB	MIT
ALOHA	aloha	dual arm	16	331,392	0.6 MB	BSD-3-Clause
ANYmal B	anybotics_anymal_b	quadruped	12	481,558	1.7 MB	BSD-3-Clause
ANYmal C	anybotics_anymal_c	quadruped	12	58,318	0.7 MB	BSD-3-Clause
Apptronik Apollo	apptronik_apollo	humanoid	32	1,553,699	6.5 MB	Apache-2.0
ARX L5	arx_l5	arm	8	86,186	0.9 MB	BSD-3-Clause
Berkeley Humanoid	berkeley_humanoid	humanoid	12	544,044	2.4 MB	BSD-3-Clause
Bitcraze Crazyflie 2	bitcraze_crazyflie_2	drone	0	9,434	0.1 MB	MIT
Booster T1	booster_t1	humanoid	23	168,582	0.7 MB	Apache-2.0
Boston Dynamics Spot (no arm)	boston_dynamics_spot-spot	quadruped	12	127,534	2.3 MB	BSD-3-Clause
Boston Dynamics Spot (with arm)	boston_dynamics_spot-spot_arm	quadruped	19	162,787	2.8 MB	BSD-3-Clause
Dynamixel 2R	dynamixel_2r	arm	2	181,574	0.4 MB	MIT
FANUC CRX-5iA	fanuc_crx5ia	arm	6	91,448	0.6 MB	Apache-2.0
Flexiv Robotics Rizon4	flexiv_rizon4	arm	7	42,866	0.3 MB	Apache-2.0
Flexiv Robotics Rizon4S	flexiv_rizon4s	arm	7	43,737	0.3 MB	Apache-2.0
Flybody	flybody	biomechanical	102	272,550	1.3 MB	Apache-2.0
Fourier N1	fourier_n1	humanoid	23	1,269,240	5.4 MB	Apache-2.0
Panda Gripper	franka_emika_panda-hand	end effector	2	8,326	0.2 MB	Apache-2.0
Franka Emika Panda	franka_emika_panda-panda	arm	9	134,888	2.7 MB	Apache-2.0
Franka Robotics FR3	franka_fr3	arm	7	232,298	2.2 MB	Apache-2.0
Franka Robotics FR3 v2	franka_fr3_v2	arm	7	243,872	1.7 MB	Apache-2.0
Google Barkour v0	google_barkour_v0	quadruped	12	387,108	0.9 MB	Apache-2.0
Google Barkour vB	google_barkour_vb	quadruped	12	160,072	0.4 MB	Apache-2.0
Google Robot	google_robot	mobile manipulator	9	15,208	0.2 MB	Apache-2.0
Hello Robot Stretch 2	hello_robot_stretch	mobile manipulator	17	268,596	3.4 MB	BSD-3-Clause-Clear
Hello Robot Stretch 3	hello_robot_stretch_3	mobile manipulator	20	302,461	3.5 MB	Apache-2.0
Yet Another Manipulator (YAM)	i2rt_yam	arm	8	104,574	0.5 MB	MIT
IIT SoftFoot	iit_softfoot	biomechanical	92	304,926	0.3 MB	BSD-3-Clause
Kinova Gen3	kinova_gen3	arm	7	86,948	0.4 MB	BSD-3-Clause
KUKA LBR iiwa 14	kuka_iiwa_14	arm	7	74,819	0.4 MB	BSD-3-Clause
Leap Hand (left)	leap_hand-left_hand	end effector	16	450,042	1.9 MB	MIT
Leap Hand (right)	leap_hand-right_hand	end effector	16	449,644	1.1 MB	MIT
Low-Cost Robot Arm	low_cost_robot_arm	arm	6	84,307	0.4 MB	Apache-2.0
MS-Human-700	ms_human_700	biomechanical	85	238,191	1.4 MB	Apache-2.0
TALOS	pal_talos	humanoid	44	225,895	1.1 MB	Apache-2.0
TIAGo	pal_tiago	mobile manipulator	22	122,893	0.5 MB	Apache-2.0
TIAGo++	pal_tiago_dual	mobile manipulator	25	219,731	0.9 MB	Apache-2.0
PNDbotics Adam_lite	pndbotics_adam_lite	humanoid	25	498,847	7.7 MB	MIT
Rainbow Robotics RBY1	rainbow_robotics_rby1	mobile manipulator	28	124,061	0.8 MB	Apache-2.0
Realsense D435i	realsense_d435i	misc	0	208,463	2.6 MB	Apache-2.0
Rethink Robotics Sawyer	rethink_robotics_sawyer	arm	7	194,795	1.4 MB	Apache-2.0
Robot soccer kit omnidirectional	robot_soccer_kit	mobile base	64	1,453,416	0.5 MB	MIT
Robotiq 2F-85	robotiq_2f85	end effector	8	71,330	0.3 MB	BSD-2-Clause
Robotiq 2F-85 v4	robotiq_2f85_v4	end effector	6	170,282	0.4 MB	BSD-2-Clause
ROBOTIS OMY-3M	robotis_omy_3m	arm	6	367,696	1.6 MB	Apache-2.0
Robotis OP3	robotis_op3	humanoid	20	929,166	3.5 MB	Apache-2.0
The Robot Studio SO101	robotstudio_so101	arm	6	401,512	1.2 MB	Apache-2.0
Seeed Studio reBot DevArm	seeed_rebot_devarm	arm	8	267,066	1.2 MB	MIT
Shadow DEX-EE Hand	shadow_dexee	end effector	12	211,422	0.5 MB	Apache-2.0
Shadow Hand E3M5 (left)	shadow_hand-left_hand	end effector	24	57,736	0.3 MB	Apache-2.0
Shadow Hand E3M5 (right)	shadow_hand-right_hand	end effector	24	57,736	0.3 MB	Apache-2.0
Sharpa Wave (left)	sharpa_wave-left_hand	end effector	22	212,032	0.5 MB	Apache-2.0
Sharpa Wave (right)	sharpa_wave-right_hand	end effector	22	212,032	0.5 MB	Apache-2.0
Skydio X2	skydio_x2	drone	0	2,554	0.1 MB	Apache-2.0
Stanford TidyBot	stanford_tidybot	mobile manipulator	18	140,528	0.6 MB	MIT
Tetheria Aero Hand Open (left)	tetheria_aero_hand_open-left_hand	end effector	16	90,594	0.4 MB	Apache-2.0
Tetheria Aero Hand Open (right)	tetheria_aero_hand_open-right_hand	end effector	16	90,594	0.4 MB	Apache-2.0
ToddlerBot 2XC	toddlerbot_2xc	humanoid	44	1,352,016	5.2 MB	MIT
ToddlerBot 2XM	toddlerbot_2xm	humanoid	44	1,352,520	5.2 MB	MIT
ViperX 300 6DOF	trossen_vx300s	arm	8	28,664	0.1 MB	BSD-3-Clause
WidowX 250 6DOF	trossen_wx250s	arm	8	10,858	0.1 MB	BSD-3-Clause
Trossen WXAI	trossen_wxai	arm	8	42,322	0.4 MB	BSD-3-Clause
Standard Open Arm-100 5DOF - Version 1.3	trs_so_arm100	arm	6	60,682	0.3 MB	Apache-2.0
Lite 6	ufactory_lite6	arm	6	55,468	0.2 MB	BSD-3-Clause
xarm7 Gripper	ufactory_xarm7-hand	end effector	6	49,467	0.2 MB	BSD-3-Clause
xArm7	ufactory_xarm7-xarm7	arm	13	86,191	0.4 MB	BSD-3-Clause
UMI-Gripper	umi_gripper	end effector	8	28,681	0.1 MB	MIT
Unitree A1	unitree_a1	quadruped	12	216,116	1.6 MB	BSD-3-Clause
Unitree G1	unitree_g1-g1	humanoid	29	393,270	1.7 MB	BSD-3-Clause
Unitree G1 with hands	unitree_g1-g1_with_hands	humanoid	43	629,338	2.1 MB	BSD-3-Clause
Unitree Go1	unitree_go1	quadruped	12	418,402	0.8 MB	BSD-3-Clause
Unitree Go2	unitree_go2	quadruped	12	398,432	1.1 MB	BSD-3-Clause
Unitree H1	unitree_h1	humanoid	19	286,408	1.3 MB	BSD-3-Clause
Unitree Z1	unitree_z1	arm	6	177,936	0.7 MB	BSD-3-Clause
Universal Robots UR10e	universal_robots_ur10e	arm	6	129,619	2.2 MB	BSD-3-Clause
Universal Robots UR5e	universal_robots_ur5e	arm	6	121,783	2.1 MB	BSD-3-Clause
Allegro Hand V3 (left)	wonik_allegro-left_hand	end effector	16	32,916	0.1 MB	BSD-2-Clause
Allegro Hand V3 (right)	wonik_allegro-right_hand	end effector	16	27,258	0.1 MB	BSD-2-Clause