feat: simulation foundation — models, ABC, factory, model registry, assets#84

Merged

cagataycali merged 43 commits intostrands-labs:mainfrom

cagataycali:feat/simulation-foundation

Apr 22, 2026

Commits on Apr 17, 2026

fix(assets): change debug to warning for missing download module (C9)
cagataycali
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fix(simulation): log cleanup errors in __del__ instead of silencing (C21)
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refactor(simulation): optional methods raise NotImplementedError (C19)
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fix(model-registry): log asset manager availability state (C26)
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refactor(model-registry): move lazy imports to top-level try/except (C28)
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fix(factory): add overwrite protection to register_backend (C22, C23, C30)
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refactor(simulation): rename SimulationBackend to SimEngine (C15)
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fix(simulation): remove mujoco references not in this PR (C13, C14)
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fix(model-registry): reorder resolution — local assets before defaults (C27)
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refactor(assets): thin __init__.py, move logic to manager.py (C3, C4, C8, C10)
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refactor(assets): consolidate to STRANDS_ASSETS_DIR, deprecate STRANDS_URDF_DIR (C5)
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feat(simulation): add models dataclasses and download_assets tool
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refactor(model-registry): simplify and document search paths (C25)
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docs(simulation): document required vs optional methods, improve render docstring (C17, C20)
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docs: add environment variables and cache directory sections to README (C6, C7)
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docs(simulation): clarify get_observation/send_action/run_policy as facade methods (C16, C18)
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style: apply ruff formatting to all PR files
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refactor: drop STRANDS_URDF_DIR entirely — no deprecation, just remove
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style: fix ruff formatting in model_registry.py (missing blank line)
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fix: resolve 25 mypy errors, remove SimulationBackend alias, fix log levels

strands-agent
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cagataycali
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fix: resolve mypy errors in assets/manager.py and tools/download_assets.py
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fix: resolve 2 mypy errors — correct type-ignore code, add robot_descriptions to stubs
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feat: expand robot registry to 68 robots, add user registration API, fix mypy
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fix: add [sim] extra with robot_descriptions dependency
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fix: add orientation, mesh_path to SimEngine.add_object + simplify randomize base
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fix: address awsarron review — 9 mechanical fixes
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fix: resolve 4 ruff lint errors (F401, I001)

strands-bot[bot]
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cagataycali
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style: fix trailing newline in download_assets.py (ruff format)

strands-bot[bot]
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fix: remove stale main() import from assets/download.py

strands-agent
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refactor: move download logic from tools/ to assets/download.py

strands-agent
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test: remove 10 superfluous tests from test_simulation_foundation

strands-agent
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cagataycali
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fix: address @awsarron review — lint, redundant env check, MuJoCo refs, legacy docs, mesh check

strands-agent
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cagataycali
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fix: resolve mypy no-any-return in download.py

strands-agent
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cagataycali
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refactor: remove MuJoCo-specific fields from SimWorld base class
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fix: add path-traversal protection in asset resolution + URL validation in _shallow_clone
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docs: add security warning to register_robot() docstring
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Commits on Apr 21, 2026

Commits on Apr 22, 2026