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assets

LAV2 asset management — multi-robot registry.

Usage::

from lav2.assets import get_robot, list_robots

for name in list_robots():
    robot = get_robot(name)
    print(robot.name, robot.mjcf_path)

lav2 = get_robot("LAV2")
cfg = lav2.get_isaaclab_cfg(prim_path="/World/envs/env_.*/Robot")

Modules:

Name Description
ATMO

ATMO robot assets — MJCF, SDF reference, and per-backend configuration builders.
LAV2

LAV2 robot assets — MJCF, USD, and per-backend configuration builders.
TABV

TABV robot assets — MJCF and physics parameters.

Classes:

Name Description
RobotAssets

Protocol that every robot asset module must satisfy.

Functions:

Name Description
get_robot

Return the RobotAssets singleton for name.
list_robots

Return the names of all registered robots.

RobotAssets

Bases: Protocol

Protocol that every robot asset module must satisfy.

Each robot (LAV2, ATMO, ...) provides a module-level singleton implementing this protocol. The top-level registry simply maps robot names to those singletons.

Methods:

Name Description
get_mjcf_spec

Load and return the MuJoCo spec for this robot.
get_mjlab_cfg

Build an mjlab EntityCfg for this robot (lazy import).
get_isaaclab_cfg

Build an Isaac Lab ArticulationCfg for this robot (lazy import).

Attributes:

Name Type Description
name str

Short robot identifier (e.g. "LAV2", "ATMO").
vehicle_params VehicleParams

Instance of :class:~lav2.dynamics.params.VehicleParams (or a subclass).
mjcf_path Path

Absolute path to the main MJCF model file.
scene_path Path

Absolute path to the MuJoCo scene file for this robot.

name instance-attribute 

name: str

Short robot identifier (e.g. "LAV2", "ATMO").

vehicle_params instance-attribute 

vehicle_params: VehicleParams

Instance of :class:~lav2.dynamics.params.VehicleParams (or a subclass).

mjcf_path instance-attribute 

mjcf_path: Path

Absolute path to the main MJCF model file.

scene_path instance-attribute 

scene_path: Path

Absolute path to the MuJoCo scene file for this robot.

get_mjcf_spec 

get_mjcf_spec() -> mujoco.MjSpec

Load and return the MuJoCo spec for this robot.

get_mjlab_cfg 

get_mjlab_cfg() -> EntityCfg

Build an mjlab EntityCfg for this robot (lazy import).

get_isaaclab_cfg 

get_isaaclab_cfg(**overrides) -> ArticulationCfg

Build an Isaac Lab ArticulationCfg for this robot (lazy import).

Raises:

Type Description
NotImplementedError

if this robot has no USD model yet.

get_robot 

get_robot(name: str) -> RobotAssets

Return the RobotAssets singleton for name.

Parameters:

Name Type Description Default

name

str

Robot identifier ("LAV2" or "ATMO").

 required

Returns:

Type Description
RobotAssets

The robot asset descriptor.

Raises:

Type Description
KeyError

if name is not a known robot.

list_robots 

list_robots() -> list[str]

Return the names of all registered robots.