MuJoCo Menagerie hits PyPI: load any robot model in one line, no 2GB clone
kevin_zakka · x · 2026-09-05
MuJoCo Menagerie is now on PyPI, ending the need to clone a 2GB repo. Any robot model can be loaded by name with version pinning, as an MjModel for simulation or MjSpec for editing.
- Try it in one line: uvx mujoco-menagerie view unitreeg1
- The wheel itself is only 30 KB, holding just the catalog, licenses, and archive locations
- Each robot is its own archive on a GitHub release, fetched, verified, and cached on first load
- Archives are named by git tree id, so lockfile versions are exact snapshots; upgrades re-download only changed robots
Related event: MuJoCo Menagerie Robot Models Now on PyPI(2 posts)→
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