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code/snow_rl/snow_env.py

@@ -118,6 +118,11 @@ class SnowJoystick(joystick.Joystick):
         config: config_dict.ConfigDict | None = None,
         config_overrides: dict[str, Any] | None = None,
     ):
+        # Playground downloads mujoco_menagerie inside `locomotion.load()`. Constructing
+        # Joystick directly bypasses that, so a fresh machine has no robot meshes and model
+        # compilation fails on a missing STL. This does not reproduce anywhere menagerie is
+        # already cached -- which is every development machine, and no fresh container.
+        mjx_env.ensure_menagerie_exists()
         super().__init__(task=task, config=config or default_config(),
                          config_overrides=config_overrides)