DEVELOPMENT · /robots/with/mujoco
Humanoid robots with MuJoCo models
11 humanoid robots with a MuJoCo model, from AGIBOT, Astribot and Booster and more: models, specifications and sources compared.
11 of the 51 humanoid robots in the WBH database publish a MuJoCo model, from 7 makers: AGIBOT, Astribot, Booster, PAL, Pollen, Tokyo and Unitree.
Each robot's page lists the package, its versions and the source that states the support; the table shows what else each robot publishes for developers.
Compare the first 4 side by side · Sources last checked 29 SEP 2026
DATA · 11 ROBOTS
Robots
| ROBOT | STATUS | ORIGIN | HEIGHT | WEIGHT | DOF | SDK | ROS 2 | ISAAC | MUJOCO | TOPICS | CHECKED |
|---|---|---|---|---|---|---|---|---|---|---|---|
| AGIBOT A3AGIBOT | Status: SHIPPING | CN | 1.73 m | 55 kg | Not published | Locomotion, Manipulation, Reinforcement Learning | 29 SEP 2026 | ||||
 AGIBOT X2AGIBOT | Status: SHIPPING | CN | ≈1.31 m | ≈39 kg | 29–31 | ROS 2, Locomotion, Reinforcement Learning | 28 SEP 2026 | ||||
| Astribot S1Astribot | Status: SHIPPING | Not published | 1.7 m | 80 kg | 7 per arm (total not published) | ROS 2, Manipulation, Teleoperation | 29 SEP 2026 | ||||
| Booster T1Booster | Status: SHIPPING | Not published | 1.18 m | ~30 kg | 23 | ROS 2, Locomotion, Reinforcement Learning | 28 SEP 2026 | ||||
| PAL Robotics KANGAROOPAL | Status: SHIPPING | ES | 1.6 m | 50–65 kg | 14–40 | ROS 2, Locomotion, Reinforcement Learning | 28 SEP 2026 | ||||
| Pollen Robotics Reachy 2Pollen | Status: SHIPPING | FR | 1.36–1.66 m | Up to 50 kg | Not published | ROS 2, Manipulation, Imitation Learning | 28 SEP 2026 | ||||
| ToroboTokyo | Status: SHIPPING | Not published | 1.61 m | approx. 120 kg | 7-axis dual arms, 3-axis waist, 3-axis neck, 4-axis omnidirectional base (no total published) | Manipulation, Isaac Sim, MuJoCo | 29 SEP 2026 | ||||
 Unitree G1Unitree | Status: SHIPPING | CN | 1.32 m | ~35 kg | 23–43 | ROS 2, Locomotion, Manipulation | 23 SEP 2026 | ||||
| Unitree H1Unitree | Status: SHIPPING | CN | ≈1.78–1.8 m | ≈47–70 kg | 27 | ROS 2, Locomotion, Reinforcement Learning | 28 SEP 2026 | ||||
| Unitree H2Unitree | Status: SHIPPING | CN | 1.82 m | ~70 kg | 31 | ROS 2, Locomotion, Manipulation | 28 SEP 2026 | ||||
| Unitree R1Unitree | Status: SHIPPING | CN | 1.23 m | ≈27–29 kg | 20–40 | Locomotion, Manipulation, Teleoperation | 28 SEP 2026 |
- Official
- Community
- None
- Not published
IN SHORT
Quick answers
- Which humanoid robots have a MuJoCo model?
- AGIBOT A3, AGIBOT X2, Astribot S1, Booster T1, PAL Robotics KANGAROO, Pollen Robotics Reachy 2, Torobo and Unitree G1, and 3 more in the table.
DATA · 9 COMPARISONS
Head-to-head comparisons
5 SPECIFICATIONS
AGIBOT X2 vs Booster T1X2 and T1 compared: height, weight, walking speed, runtime and more, as their makers publish them.
6 SPECIFICATIONS
AGIBOT X2 vs PAL Robotics KANGAROOX2 and KANGAROO compared: height, weight, walking speed, runtime and more, as their makers publish them.
5 SPECIFICATIONS
AGIBOT X2 vs Unitree G1X2 and G1 compared: height, weight, runtime, battery capacity and more, as their makers publish them.
5 SPECIFICATIONS
Astribot S1 vs ToroboAstribot S1 and Torobo compared: height, weight, arm dof, endurance and more, as their makers publish them.
6 SPECIFICATIONS
Booster T1 vs PAL Robotics KANGAROOT1 and KANGAROO compared: height, weight, degrees of freedom, walking speed and more, as their makers publish them.
5 SPECIFICATIONS
Booster T1 vs Unitree G1T1 and G1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.
5 SPECIFICATIONS
Booster T1 vs Unitree H2T1 and H2 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.
6 SPECIFICATIONS
PAL Robotics KANGAROO vs Unitree G1KANGAROO and G1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.
6 SPECIFICATIONS
Pollen Robotics Reachy 2 vs ToroboReachy 2 and Torobo compared: height, weight, runtime, payload per arm and more, as their makers publish them.