fix mujoco menagerie

[paul-nechifor]

With the new version of playground you have to trigger downloading of the mujoco_menagerie yourself. It's not done automatically when the playground is imported.

[greptile-apps]

Greptile Overview

Greptile Summary

This PR fixes an issue where the new version of mujoco_playground no longer automatically downloads the mujoco_menagerie package on import. The fix explicitly calls mjx_env.ensure_menagerie_exists() during initialization to pre-download the menagerie before spawning the MuJoCo subprocess, preventing timeout issues.

Issues found:

• Typo in comment: "mujoco_menajerie" should be "mujoco_menagerie"
• Missing error handling around the new ensure_menagerie_exists() call (could fail due to network issues, missing package, etc.)
• Using private API (_src module) which could be fragile if the library changes its internal structure

Confidence Score: 4/5

• This PR is safe to merge with minor improvements recommended
• The change correctly addresses the issue with the new mujoco_playground version. The logic is sound - downloading the menagerie before spawning the subprocess prevents timeouts. However, there's a typo in the comment and missing error handling that should be addressed for robustness
• The single changed file has minor issues (typo and missing error handling) but the core logic is correct

Important Files Changed

File Analysis

Filename	Score	Overview
dimos/robot/unitree_webrtc/mujoco_connection.py	4/5	Updates menagerie download trigger to use explicit function call. Found typo in comment and missing error handling

Sequence Diagram

sequenceDiagram
    participant User
    participant MujocoConnection
    participant mjx_env
    participant subprocess
    participant mujoco_process
    participant model_py
    
    User->>MujocoConnection: __init__(global_config)
    MujocoConnection->>MujocoConnection: import mujoco (check)
    MujocoConnection->>MujocoConnection: get_data("mujoco_sim")
    Note over MujocoConnection,mjx_env: NEW: Explicit menagerie download
    MujocoConnection->>mjx_env: ensure_menagerie_exists()
    mjx_env-->>MujocoConnection: menagerie downloaded
    
    User->>MujocoConnection: start()
    MujocoConnection->>subprocess: spawn mujoco_process.py
    subprocess->>mujoco_process: __main__
    mujoco_process->>model_py: load_model()
    Note over model_py,mjx_env: Uses MENAGERIE_PATH (already downloaded)
    model_py->>mjx_env: MENAGERIE_PATH / "unitree_go1"
    mjx_env-->>model_py: path returned
    model_py-->>mujoco_process: model loaded
    mujoco_process-->>MujocoConnection: ready signal via shared memory

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