linker-robot-assets

The shared robot-asset bundle for linker-sim and downstream consumers.

This package ships:

• the asset tree at src/linker_robot_assets/assets/ — URDF / MJCF + meshes, organised by components/ and workstations/ (binaries are stored via git LFS);
• the composer that builds workstation URDFs from components (composer/);
• two validators (validate_workstation.py, validate_component_mjcf.py);
• a thin loader API at the package root: asset_root(), workstations(), load_manifest(name).

Install profiles

Profile	What you get	Pulls
pip install linker-robot-assets	Loader API + bundled assets.	pyyaml
pip install linker-robot-assets[authoring]	Plus composer + validators.	mujoco, numpy

The runtime profile is intentionally light so consumers (e.g. linker-sim's registry) only pay for pyyaml. Authoring tools are gated behind [authoring].

Usage

from linker_robot_assets import asset_root, workstations, load_manifest

asset_root()                  # PosixPath('.../linker_robot_assets/assets')
workstations()                # ['a7_lite_l6_dc', 'ar5_l6_bench_bimanual', ...]
load_manifest('a7_lite_l6_dc')   # {'name': '...', 'joints': {...}, ...}

CLI (with [authoring]):

python -m linker_robot_assets.composer.compose <workstation_dir> [--check-drift]
python -m linker_robot_assets.validate_workstation <workstation_dir>
python -m linker_robot_assets.validate_component_mjcf <component_dir> [--variant NAME]