Simulation & digital-asset dossier · 01
Connect MJCF, meshes, scenes, model-specific licences, minimum MuJoCo versions and changelogs without mistaking a curated simulation asset for manufacturing geometry or validated physical truth.
Identify the exact asset first
MuJoCo Menagerie is a Google DeepMind-curated collection of high-quality MuJoCo models contributed from many upstream projects. Each model directory is its own package of XML, meshes, scene, README, licence and often a model-level changelog; some models also provide MJX-compatible variants.
Digital asset map
A primary MJCF XML and scene XML, with MJX variants for selected models.
Verify before adoptionFreeze model directory, repository commit, minimum MuJoCo version, variant, includes, compiler defaults and runtime options.
Visual and collision meshes, textures and scene resources supplied with each model.
Verify before adoptionSeparate visual from collision geometry; inspect scale, orientation, mesh repair, simplification, material provenance and missing dependencies.
Mass, inertia, joints, limits, contacts, friction, tendons and actuator parameters encoded in MJCF.
Verify before adoptionCompare against measured hardware data and document every inferred, fitted, default or deliberately simplified parameter.
Per-model README, licence and changelog plus repository-level citation and global changelog.
Verify before adoptionRetain upstream source, conversion steps, exact asset licence, local modifications and the behaviour affected by each update.
Layered licence reading
The repository explicitly states that each model directory can carry different licence and copyright terms.
Read and archive the model directory's own LICENSE before use; never inherit the top-level licence automatically.
Content outside individual model assets is identified as Apache-2.0 at repository level.
Preserve notices and identify whether each copied file is repository tooling or model-specific material.
A model licence does not necessarily grant trademarks, product documentation, patents or manufacturing rights.
Keep simulation reuse separate from claims about affiliation, physical reproduction or commercial hardware rights.
This table is a source-navigation and engineering-decision aid, not legal advice. Use original licence texts and qualified advice for an actual decision.
Model & asset validation gates
Repository commit, model path, README, licence, changelog, MuJoCo version, variant and checksums for every mesh and XML.
Stop conditionStop if licence, source model or compatible runtime cannot be resolved unambiguously.
Compiler warnings, joint tree, limits, inertials, collision pairs, contacts, actuator mapping and static pose checks.
Stop conditionDo not train or compare controllers on unresolved compiler, topology or unit errors.
Physical measurements for free fall, joint response, contact, friction, payload, saturation and latency under declared conditions.
Stop conditionDo not claim sim-to-real relevance for behaviours that have no physical calibration evidence.
Frozen model and scene, solver, timestep, seed, controller, initial state, hardware/software environment, outputs and failure runs.
Stop conditionA video or average score without configuration and failure records is not reproducibility evidence.
FUURAA analysis
Rapidly discovering well-structured MJCF references and comparing modelling choices across arms, quadrupeds, humanoids and other form factors.
Visual quality and successful loading can conceal unvalidated dynamics, model-specific licences and changes introduced during upstream conversion.
Use Menagerie as a model-evidence starting point. A trustworthy experiment adds an immutable asset manifest and a calibration card for every behaviour the result depends on.
Applicability boundary