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")

模块：

名称	描述
`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.

类：

名称	描述
`RobotAssets`	Protocol that every robot asset module must satisfy.

函数：

名称	描述
`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.

方法：

名称	描述
`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).

属性：

名称	类型	描述
`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).

引发：

类型	描述
`NotImplementedError`	if this robot has no USD model yet.

get_robot

get_robot(name: str) -> RobotAssets

Return the RobotAssets singleton for name.

参数：

名称	类型	描述	默认
`name`	`str`	Robot identifier (`"LAV2"` or `"ATMO"`).	必需

返回：

类型	描述
`RobotAssets`	The robot asset descriptor.

引发：

类型	描述
`KeyError`	if name is not a known robot.

list_robots

list_robots() -> list[str]

Return the names of all registered robots.

assets

RobotAssets

name instance-attribute

vehicle_params instance-attribute

mjcf_path instance-attribute

scene_path instance-attribute