Top AI Repos — open-source AI, indexed and scored

Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.

Star history, last 90 days
Date	Stars
2026-07-24	3754
2026-07-25	3754
2026-07-28	3754
2026-07-30	3754
2026-08-06	3754

Star history, last 90 days

Date

Stars

2026-07-24

3754

2026-07-25

3754

2026-07-28

3754

2026-07-30

3754

2026-08-06

3754

<h1> <a href="#"><img alt="MuJoCo Menagerie" src="assets/banner.png" width="100%"></a> </h1> <p> <a href="https://github.com/google-deepmind/mujoco_menagerie/actions/workflows/build.yml?query=branch%3Amain" alt="GitHub Actions"> <img src="https://img.shields.io/github/actions/workflow/status/google-deepmind/mujoco_menagerie/build.yml?branch=main"> </a> <a href="https://mujoco.readthedocs.io/en/latest/models.html" alt="Documentation"> <img src="https://readthedocs.org/projects/mujoco/badge/?version=latest"> </a> <a href="https://github.com/google-deepmind/mujoco_menagerie/blob/main/CONTRIBUTING.md"> <img src="https://img.shields.io/badge/PRs-welcome-green.svg" alt="PRs" height="20"> </a> </p> **Menagerie** is a collection of high-quality models for the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine, curated by Google DeepMind. A physics simulator is only as good as the model it is simulating, and in a powerful simulator like MuJoCo with many modeling options, it is easy to create "bad" models which do not behave as expected. The goal of this collection is to provide the community with a curated library of well-designed models that work well right out of the gate. - [Getting Started](#getting-started) - [Prerequisites](#prerequisites) - [Overview](#overview) - [Usage](#usage) - [Via `robot-descriptions`](#via-robot-descriptions) - [Via `git clone`](#via-git-clone) - [Model Quality and Contributing](#model-quality-and-contributing) - [Quick contributor setup](#quick-contributor-setup) - [Menagerie Models](#menagerie-models) - [Citing Menagerie](#citing-menagerie) - [Acknowledgments](#acknowledgments) - [Changelog](#changelog) - [License and Disclaimer](#license-and-disclaimer) ## Getting Started ### Prerequisites The minimum required MuJoCo version for each model is specified in its respective README. You can download prebuilt binaries for MuJoCo from the GitHub [releases page](https://github.com/google-deepmind/mujoco/releases/), or if you are working with Python, you can install the native bindings from [PyPI](https://pypi.org/project/mujoco/) via `pip install mujoco`. For alternative installation instructions, see [here](https://github.com/google-deepmind/mujoco#installation). ### Overview The structure of Menagerie is illustrated below. For brevity, we have only included one model directory since all others follow the exact same pattern. ```bash ├── unitree_go2 │ ├── assets │ │ ├── base_0.obj │ │ ├── ... │ ├── go2.png │ ├── go2.xml │ ├── LICENSE │ ├── README.md │ └── scene.xml │ └── go2_mjx.xml │ └── scene_mjx.xml ``` - `assets`: stores the 3D meshes (.stl or .obj) of the model used for visual and collision purposes - `LICENSE`: describes the copyright and licensing terms of the model - `README.md`: contains detailed steps describing how the model's MJCF XML file was generated - `<model>.xml`: contains the MJCF definition of the model - `scene.xml`: includes `<model>.xml` with a plane, a light source and potentially other objects - `<model>.png`: a PNG image of `scene.xml` - `<model>_mjx.xml`: contains an MJX-compatible version of the model. Not all models have an MJX variant. - `scene_mjx.xml`: same as `scene.xml` but loads the MJX variant Note that `<model>.xml` solely describes the model, i.e., no other entity is defined in the kinematic tree. We leave additional body definitions for the `scene.xml` file, as can be seen in the Shadow Hand [`scene.xml`](shadow_hand/scene_right.xml). ### Usage #### Via `robot-descriptions` You can use the opensource [`robot_descriptions`](https://github.com/robot-descriptions/robot_descriptions.py) package to load any model in Menagerie. It is available on PyPI and can be installed via `pip install robot_descriptions`. Once installed, you can load a model of your choice as follows: ```python import mujoco # Loading a specific model description as an imported module. from robot_desc