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.