Fix the list of models whose assets() raises in python/DOC.md

Author: rishabhsai

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 All notable changes to this repository will be documented here.
 
+## [2026-09-12]
+
+- Corrected the list of models whose `assets()` raises in `python/DOC.md`: `pal_talos` collides on `base_link.stl`, `sharpa_wave` does not collide on any entry point. Added a test that derives the list from the checkout.
+
 ## [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.

CONTRIBUTORS.md

@@ -40,6 +40,7 @@ Built by the Google DeepMind team with contributions from the open-source commun
 - [Nan Wang](https://github.com/Nan-Tetheria)
 - [Nikita Cherniadev](https://github.com/chernyadev)
 - [Omar Rayyan](https://github.com/omarrayyann)
+- [Rishabh Sai](https://github.com/rishabhsai)
 - [Sai Kishor Kothakota](https://github.com/saikishor)
 - [Taylor Howell](https://github.com/thowell)
 - [Thomas Lips](https://github.com/tlpss)

python/DOC.md

@@ -72,7 +72,7 @@ r.files('scene')  # every file scene.xml depends on; copy these to vendor, and n
 r.assets('scene')  # the same as {relative path: bytes}, for MjModel.from_xml_string
 ```
 
-`assets()` raises for `robotis_op3`, `ufactory_lite6` and `sharpa_wave`, whose meshes share basenames MuJoCo cannot tell apart in memory.
+`assets()` raises for `pal_talos`, `robotis_op3` and `ufactory_lite6`, whose meshes share basenames MuJoCo cannot tell apart in memory.
 
 **Cache**
 

python/tests/test_closure.py

@@ -104,3 +104,17 @@ def test_real_assets_dict(repo_root):
   a = mujoco.MjModel.from_xml_path(str(src / 'scene.xml'))
   b = mujoco.MjModel.from_xml_string(assets['scene.xml'].decode(), assets)
   np.testing.assert_array_equal(a.mesh_vert, b.mesh_vert)
+
+
+def test_real_assets_dict_collisions(repo_root):
+  colliding = set()
+  for d in sorted(repo_root.iterdir()):
+    if d.name in {'assets', 'test', 'python'} or not any(d.glob('*.xml')):
+      continue
+    for entry in sorted(d.glob('*.xml')):
+      try:
+        assets_dict(closure(entry, d), d)
+      except AssetCollisionError:
+        colliding.add(d.name)
+  # python/DOC.md names these; keep the two in sync.
+  assert colliding == {'pal_talos', 'robotis_op3', 'ufactory_lite6'}