Python Applications Reference

This section documents the Python libraries and applications.

Overview

Python libraries provide high-level interfaces:

• Robot control API

• Visualization (Viser is launched from fa-py-libraries, ./run.sh viser)

• LeRobot ROS 2 plugins

• Task-queue YAML orchestration

In This Section

• ros2_robot_interface
• fa-py-libraries
• ros2-viser
• lerobot_ros2
• robot_action_composer
• HUG
• wuji-retargeting

Quick Reference

Package	Purpose	Visibility
ros2_robot_interface	ROS2RobotInterface topic / action / ExecutePath client	Public
fa-py-libraries	Utilities umbrella	Public
ros2-viser	Viser library (launch via fa-py-libraries)	Public
lerobot_ros2	LeRobot ↔ ROS 2 monorepo	Public
robot_action_composer	Task-queue YAML / motion generation	Public
HUG	Grasp inference	Private
wuji-retargeting	Hand retargeting	Public

Datagen pipeline (Isaac USD → composer → LeRobot record/export): Synthetic Data.