Merge remote-tracking branch 'upstream/main' into codex/pr233-push

Author: kimtaehyeong99

.github/workflows/build.yml

@@ -22,3 +22,15 @@ jobs:
           cache-dependency-glob: test/requirements.txt
       - name: Test with pytest
         run: uv run --with-requirements test/requirements.txt pytest -n auto
+
+  package:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10 # v6.0.3
+      - uses: astral-sh/setup-uv@fac544c07dec837d0ccb6301d7b5580bf5edae39 # v8.2.0
+        with:
+          python-version: "3.12"
+      - name: Derive the registry
+        run: uv run --no-project build_registry.py --no-archives --jobs "$(nproc)"
+      - name: Test the package
+        run: cd python && uv run --group dev pytest -n auto

.github/workflows/release.yml

@@ -0,0 +1,91 @@
+# Every merge that touches a model directory or the package is released as
+# vYYYY.M.N. Archives go to the long-lived `assets` GitHub release and are
+# re-verified from their public URLs before anything reaches PyPI, which is
+# immutable. The version is read from the tag, which is pushed last so a failed
+# publish leaves no tag behind.
+name: release
+
+on:
+  push:
+    branches: [main]
+  workflow_dispatch:
+
+concurrency: release
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      contents: write   # release assets, tag
+      id-token: write   # trusted publishing
+    steps:
+      - uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10 # v6.0.3
+        with:
+          fetch-depth: 0
+      - uses: astral-sh/setup-uv@fac544c07dec837d0ccb6301d7b5580bf5edae39 # v8.2.0
+        with:
+          version: "0.12.1"
+      - run: uv python install 3.12
+
+      - name: Pick the version, or stop if nothing to release
+        id: version
+        run: |
+          last=$(git tag --list 'v*' --sort=-v:refname | head -1)
+          if [ -n "$last" ] && [ "$GITHUB_EVENT_NAME" = push ] && ! git diff --name-only "$last" HEAD \
+             | grep -vE '^(\.|assets/|test/)' | grep -qE '/|^(catalog|build_registry)\.py$'; then
+            echo "no model directory or package change since $last"; exit 0
+          fi
+          month=$(date -u +%Y.%-m)
+          n=$(git tag --list "v$month.*" | sed "s/^v$month\.//" | sort -n | tail -1)
+          version="$month.$(( ${n:--1} + 1 ))"
+          git tag "v$version"  # local until publish succeeds; the build reads the version from it
+          echo "version=$version" >> "$GITHUB_OUTPUT"
+
+      - name: Build the archives not yet released, and the registry
+        if: steps.version.outputs.version
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh release view assets --json assets --jq '[.assets[] | select(.digest) | {key: .name, value: {sha256: (.digest | ltrimstr("sha256:")), download_size: .size}}] | from_entries' > published.json || echo '{}' > published.json
+          uv run --no-project build_registry.py --jobs "$(nproc)" --published published.json
+
+      - name: Upload new archives
+        if: steps.version.outputs.version
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh release view assets >/dev/null 2>&1 || gh release create assets --title "Model archives" \
+            --notes "Content-addressed archives used by the mujoco-menagerie package. Do not delete." --target "$GITHUB_SHA"
+          existing=$(gh release view assets --json assets --jq '.assets[].name')
+          for f in python/dist-assets/*.tar.xz; do
+            grep -qx "$(basename "$f")" <<<"$existing" || gh release upload assets "$f"
+          done
+
+      - name: Re-verify every archive from its public URL
+        if: steps.version.outputs.version
+        env:
+          PYTHONPATH: python/src
+        run: |
+          uv run --no-project python - <<'EOF'
+          import hashlib, json, urllib.request
+          from mujoco_menagerie._cache import DEFAULT_BASE_URL
+          for name, r in json.load(open('python/src/mujoco_menagerie/registry.json'))['robots'].items():
+              data = urllib.request.urlopen(f"{DEFAULT_BASE_URL}/{r['asset']}").read()
+              assert hashlib.sha256(data).hexdigest() == r['sha256'] and len(data) == r['download_size'], name
+          EOF
+
+      - name: Build, smoke test, publish
+        if: steps.version.outputs.version
+        env:
+          VERSION: ${{ steps.version.outputs.version }}
+        run: |
+          make build
+          ls "dist/mujoco_menagerie-$VERSION-py3-none-any.whl"
+          uv publish
+
+      - name: Tag
+        if: steps.version.outputs.version
+        env:
+          VERSION: ${{ steps.version.outputs.version }}
+        run: git push origin "v$VERSION"

.gitignore

@@ -1,3 +1,8 @@
 .DS_Store
 uv.lock
 gallery.md
+# Generated by build_registry.py; only meaningful at a tagged commit.
+python/src/mujoco_menagerie/registry.json
+python/dist-assets/
+python/dist/
+dist/

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 All notable changes to this repository will be documented here.
 
+## [2026-09-01]
+
+- Added the `mujoco-menagerie` Python package under `python/`: models download on first use into a content-addressed cache, pinned by package version. `build_registry.py` derives the registry from the checkout; `release.yml` publishes archives and the wheel on a `vYYYY.M.N` tag. Extracted the gallery's catalog tables into `catalog.py`, shared by both tools, and registered seven model directories that were missing from the README gallery.
+
 ## [2026-07-04]
 
 - Cleaned up manual `<statistic>` camera overrides across scene XMLs to improve visualizer default framings. Removed arbitrary `center` attributes, only keeping `extent` where finite floor surfaces or heightfields require custom framing bounds.

CONTRIBUTING.md

@@ -46,6 +46,16 @@ finer control:
 
 CI runs the same things, so a green `make all` locally means a green CI.
 
+## Releases
+
+Menagerie ships as the `mujoco-menagerie` package ([`python/`](python/DOC.md)).
+Every merge that touches a model directory or the package is released
+automatically as `YYYY.M.N`, so every model fix has a version. Everything in
+the package is derived from the checkout by `build_registry.py`, which CI runs
+on every PR. Every model directory must appear in `catalog.py`'s `MODEL_MAP`; a
+directory with several `scene*.xml` and no `scene.xml` names its default in
+`PREVIEW_OVERRIDES`.
+
 ## XML style
 
 You can browse existing models to get a general sense of the style we adopt for

LICENSE

@@ -4257,6 +4257,213 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 
 
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 License for contents in the directory 'rainbow_robotics_rby1/'
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