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name: model-catalog description: "Choose MuJoCo Menagerie model directories, scene XMLs, variants, MJX XMLs, categories, and metadata from a bundled catalog." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Model Catalog

Use this sub-skill when the task is to identify or inventory MuJoCo Menagerie models before loading or editing them.

Use this for

• Choosing the relative XML path for a named robot, gripper, hand, sensor, or model directory.
• Listing model directories by gallery category such as quadrupeds, arms, hands/end-effectors, mobile manipulators, humanoids, drones, or miscellaneous assets.
• Finding MJX-specific XMLs and a non-MJX fallback XML.
• Checking whether a directory has README, LICENSE, CHANGELOG, scene XMLs, asset folders, and minimum MuJoCo version evidence.
• Producing a model inventory from the bundled snapshot or from a user-supplied Menagerie checkout.

Do not use this for

• Compiling XMLs, opening viewers, stepping simulations, resolving mesh-load errors, or interpreting MuJoCo warnings. Route those tasks to model-loading.
• Editing MJCF, composing arms and grippers, generating mirrored hands, or changing MJX variants. Route those tasks to model-editing.
• Running maintainer checks, formatting XML, regenerating licenses, or rendering the gallery. Route those tasks to contribution-maintenance.

Runtime references

• Read references/catalog-reference.md for selection rules, category summaries, MJX guidance, and edge cases.
• Read references/model-index.json for the compact generated catalog snapshot.
• Read references/troubleshooting.md when a directory has missing metadata, no scene XML, unknown category, stale catalog data, or robot_descriptions naming ambiguity.
• Use scripts/inspect_model_catalog.py to inspect a current Menagerie checkout without importing MuJoCo or executing repository scripts.

Selection workflow

1. Normalize the user request into one of: named model, category search, MJX query, metadata/license query, or full inventory.

2. Look up the directory or gallery entry in references/model-index.json first. Return repository-relative paths such as unitree_go2/scene.xml, never absolute local checkout paths.

3. For ordinary simulation or preview, prefer recommended_load_xmls from the index. These encode gallery preview overrides such as hand-only XMLs, scene_left.xml, scene_position.xml, and the realsense_d435i/d435i.xml sensor asset.

4. For MJX, prefer scene_mjx.xml or other *mjx*.xml scene files when present; otherwise state that no MJX XML is listed and provide the normal scene fallback.

5. If the user needs to verify the live checkout rather than the bundled snapshot, run:

   python sub-skills/model-catalog/scripts/inspect_model_catalog.py --repo-root "$MENAGERIE_ROOT" --markdown
   python sub-skills/model-catalog/scripts/inspect_model_catalog.py --repo-root "$MENAGERIE_ROOT" --json /tmp/menagerie-catalog.json
   

6. Stop at catalog-level advice. If the next action is actually loading, debugging, editing, or checking contributions, route to the owning sub-skill named above.

Output contract

When answering catalog questions, include the smallest useful set of fields:

• model directory and display name;
• category or unknown in gallery;
• recommended XML path(s);
• MJX XML path(s) and non-MJX fallback when relevant;
• minimum MuJoCo version if the per-model README stated one;
• README/LICENSE/CHANGELOG presence and SPDX license heuristic when relevant;
• any caveat, such as no standalone scene*.xml for sensor-only realsense_d435i.