MuJoCo Menagerie ships robot models to PyPI via CI on every merge
kevin_zakka · x · 2026-09-05
kevinzakka details the release engineering behind MuJoCo Menagerie: on every merge to main, CI packages the changed robot models, uploads archives, builds the wheel and publishes directly to PyPI.
Key design points:
- Archives are named by the robot's git tree id, so a lockfile pin like mujoco-menagerie==2026.9.0 reproduces every model exactly as it was at that tag;
- Upgrades only re-download robots that actually changed.
This gives simulation robot assets the same strict versioning as software packages—useful for reproducible robot training setups.
Related event: MuJoCo Menagerie Robot Models Now on PyPI(2 posts)→
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