mujoco_menagerie includes Mujoco physics simulator MJCF models for 54 robot models; 9 humanoids, 8 quadrepeds: https://github.com/google-deepmind/mujoco_menagerie#menageri...

mujoco_menagerie can also load any of the 135+ models supported by robot_descriptions FWIU

pypi:robot_descriptions: https://github.com/robot-descriptions/robot_descriptions.py

robot-descriptions/awesome-robot-descriptions: https://github.com/robot-descriptions/awesome-robot-descript... :

> A curated list of awesome robot descriptions in URDF, Xacro or MJCF formats.

I'm working on a research project and need to evaluate different robot platforms. I've been looking at humanoid robots (like Unitree H1, Boston Dynamics Atlas) and quadrupeds (like Unitree Go2, Boston Dynamics Spot) but finding it challenging to compare them systematically.