Robot library¶
Open Scene → Robots to browse the built-in robot catalog. Search by robot, manufacturer, family, or licence, or narrow the list by category. Each card shows the arm DOF, download size, and verified capabilities such as TCP control, gripper control, model cameras, force/torque sensors, and multi-robot support.
Capability badges are model-specific
A badge means the matching authored feature was found and validated in the
bundled MJCF model. Absence of TCP, for example, means Sim2Bot will not
pretend that an arbitrary last link is a verified tool point.
Add a built-in robot¶
- Open Scene → Robots.
- Find the robot and select Add.
- Use the robot's settings inspector to place and rotate its base.
- Open Source to see its manufacturer, licence, minimum MuJoCo version, verified capabilities, actuator/TCP/camera/sensor schema, exact package snapshot, and upstream source.
- Open Model graph when you need the compiled link and joint structure.
Robots with authored MJCF keyframes show Authored poses in their inspector. Selecting one uses the normal robot controller rather than teleporting the rendered links. The UR5e and Source Robotics PAR6 also show an End effector selector; the selected gripper variant is saved with the scene while the robot's scene identity and placement are preserved. The UR5e is added with a Robotiq 2F-85 gripper; choose No gripper there for the bare tool flange.
The first robot in a scene is the primary robot. Additional robots are compiled into the same MuJoCo world and remain independently selectable. See Multiple robots for selection and Python addressing.
Built-in models¶
| Robot | DOF | Notable authored features |
|---|---|---|
| Source Robotics PAR6 (default) | 6 | TCP; MSG gripper with its camera, SSG48 gripper, or flange only; home and parked poses |
| Franka Emika Panda | 7 | TCP and gripper |
| Universal Robots UR5e | 6 | TCP; Robotiq 2F-85 gripper, or no gripper |
| SO-ARM101 | 5 | Gripper and wrist camera |
A new scene starts with the PAR6 and its MSG gripper.
Quadrupeds, humanoids, and dexterous hands are not shown as supported robots yet because they need different controllers and telemetry contracts.
Robots removed in October 2026
Earlier versions also included the ARX L5, SO-ARM100, UFactory Lite 6, KUKA LBR iiwa 14, Kinova Gen3, Flexiv Rizon4S, Unitree Z1, two TurtleBot3 mobile bases, and two drones. A saved scene that uses one of them still opens, without that robot, and the Log names the robot that was left out. To keep using one, upload its MuJoCo Menagerie package as your own robot.
Upload a robot¶
Use Open robot files in the same panel to drop an MJCF folder or ZIP. Sim2Bot
compiles the bundle locally in the browser and conservatively infers its arm
actuators, gripper, TCP aliases, keyframes, model cameras, and sensors. A
versioned sim2bot.robot.json can declare these facts explicitly.
The guided import wizard then lets you review the detected arm DOF and TCP and add the manufacturer, category, licence, source URL, and compact preview. When no preview exists, Sim2Bot renders one from the compiled 3D model. See Uploading your own robot for the recommended folder layout and testing checklist.
Inspect uploads before control
MJCF does not standardize TCP, actuator, or end-effector names. An uploaded model may compile while still having the wrong arm/gripper split or no valid TCP. Check its model graph and controls before using it from Python.
Why the packages are relatively large¶
The model's XML, meshes, textures, documentation, preview, and licence are kept together. The catalog card reports the complete package size. Fingerprinted web assets are cached after download, while a model package loads only when the scene needs it.
For the maintainer-facing descriptor, validation, and import procedure, see the
repository's docs/robot-model-catalog.md.