sscbirrt-assets

The MuJoCo Menagerie UR5e and Robotiq 2F-85 models, packaged so that pip install "sscbirrt[demo]" can run the sscbirrt demos without cloning the Menagerie.

import sscbirrt_assets

sscbirrt_assets.ur5e_xml()          # .../menagerie/universal_robots_ur5e/ur5e.xml
sscbirrt_assets.robotiq_2f85_xml()  # .../menagerie/robotiq_2f85/2f85.xml
sscbirrt_assets.menagerie_path()    # a directory laid out like a Menagerie clone

The functions return real file paths, since MJCF loaders resolve meshes relative to the XML.

Provenance and licenses

Each file is copied unmodified from Menagerie at the commit in sscbirrt_assets.MENAGERIE_COMMIT and checked against the SHA-256 in manifest.json. Only the MJCF, the meshes and the LICENSE of each model ship.

• UR5e: BSD-3-Clause, Copyright 2018 ROS Industrial Consortium
• Robotiq 2F-85: BSD-2-Clause, Copyright (c) 2013, ROS-Industrial
• The Python code in this package: MIT

Building

fetch.py places the files. The build hook calls it, so uv build assets works on its own. Pass python assets/fetch.py --from <clone> to copy from a local Menagerie clone instead of downloading. Either way the hashes are checked. After moving the pin, regenerate the manifest with --write-manifest --from <clone>.