mj_kdl_wrapper.menagerie Namespace Reference

Functions
Path	_cache_root ()
Path	_cache_dir ()
Path	assets_cache_dir ()
Path	_repo_assets_dir ()
str	model_path (str name, *, str|None env_var=None)
str	asset_path (str relative_path, *, str|None env_var=None)
bool	_run (list[str] cmd)
dict[str, str]	fetch (str|os.PathLike[str]|None dest=None)
str	fetch_assets (str|os.PathLike[str]|None dest=None)
int	main ()

Variables
str	MENAGERIE_REPO = "https://github.com/google-deepmind/mujoco_menagerie.git"
dict	_MODELS

Detailed Description

Locate (and optionally fetch) MuJoCo Menagerie models.

The only model source this package provides is the official MuJoCo Menagerie
(https://github.com/google-deepmind/mujoco_menagerie). Resolution order:

1. ``MJ_KDL_MENAGERIE`` env var (a Menagerie checkout root), if set.
2. The local cache populated by ``mj-kdl-fetch-menagerie`` (or :func:`fetch`).

Examples use this helper for the Kinova GEN3 arm and bundled assets. Both are
resolved from explicit env overrides or the user cache.

Other model sources (e.g. the ``robot_descriptions`` package, your own URDF/MJCF
exports) are not provided here, but you can use them by pointing ``MJ_KDL_MODEL``
/ ``MJ_KDL_GRIPPER`` (or ``MJ_KDL_MENAGERIE``) at the files yourself.

Function Documentation

_cache_dir()

Path mj_kdl_wrapper.menagerie._cache_dir ( )

protected

Definition at line 41 of file menagerie.py.

References _cache_root().

Referenced by fetch(), main(), and model_path().

_cache_root()

Path mj_kdl_wrapper.menagerie._cache_root ( )

protected

Definition at line 34 of file menagerie.py.

Referenced by _cache_dir(), and assets_cache_dir().

_repo_assets_dir()

Path mj_kdl_wrapper.menagerie._repo_assets_dir ( )

protected

Definition at line 49 of file menagerie.py.

Referenced by fetch_assets().

_run()

bool mj_kdl_wrapper.menagerie._run ( list[str] cmd )

protected

Definition at line 120 of file menagerie.py.

Referenced by fetch().

asset_path()

str mj_kdl_wrapper.menagerie.asset_path	(	str	relative_path,
		*	,
		str | None	env_var = None )

Return a filesystem path to a bundled mj_kdl_wrapper asset.

If ``env_var`` is set, that value is used as a user override; it must
point at an existing file or a RuntimeError is raised.

Definition at line 88 of file menagerie.py.

References assets_cache_dir(), and fetch_assets().

assets_cache_dir()

Path mj_kdl_wrapper.menagerie.assets_cache_dir

(

)

Definition at line 45 of file menagerie.py.

References _cache_root().

Referenced by asset_path(), and fetch_assets().

fetch()

dict[str, str] mj_kdl_wrapper.menagerie.fetch

(

str | os.PathLike[str] | None

dest = None

)

Shallow-clone the full MuJoCo Menagerie into ``dest`` (default: cache).

Returns a mapping of model name -> resolved path. Requires ``git``.

Definition at line 124 of file menagerie.py.

References _cache_dir(), _run(), and fetch_assets().

Referenced by main().

fetch_assets()

str mj_kdl_wrapper.menagerie.fetch_assets

(

str | os.PathLike[str] | None

dest = None

)

Copy bundled mj_kdl_wrapper assets into ``dest`` (default: cache).

Definition at line 149 of file menagerie.py.

References _repo_assets_dir(), and assets_cache_dir().

Referenced by asset_path(), and fetch().

main()

int mj_kdl_wrapper.menagerie.main

(

)

Definition at line 166 of file menagerie.py.

References _cache_dir(), fetch(), and main().

Referenced by main().

model_path()

str mj_kdl_wrapper.menagerie.model_path	(	str	name,
		*	,
		str | None	env_var = None )

Return a filesystem path to the named Menagerie model.

If ``env_var`` is set, that value is used as a user override; it must
point at an existing file or a RuntimeError is raised. Otherwise the
fetched cache is used; if it is missing, a RuntimeError explains how to
fetch the models.

Definition at line 53 of file menagerie.py.

References _cache_dir().

Variable Documentation

_MODELS

dict mj_kdl_wrapper.menagerie._MODELS

protected

Initial value:

=  {
    "kinova_gen3": ("kinova_gen3", "gen3.xml"),
    "robotiq_2f85": ("robotiq_2f85", "2f85.xml"),
}

Definition at line 28 of file menagerie.py.

MENAGERIE_REPO

str mj_kdl_wrapper.menagerie.MENAGERIE_REPO = "https://github.com/google-deepmind/mujoco_menagerie.git"

Definition at line 25 of file menagerie.py.