feat: Robot() factory + top-level lazy imports by cagataycali · Pull Request #86 · strands-labs/robots

cagataycali · 2026-04-01T01:12:36Z

TL;DR

Add Robot() factory function that auto-detects sim vs real mode, plus lazy imports in __init__.py for all simulation types.

⚠️ Depends on: PR #85 (MuJoCo backend)

What changed

File	Lines	What
`strands_robots/factory.py`	199	`Robot()` factory + `list_robots()`
`strands_robots/__init__.py`	+38/-7	Lazy imports for Robot, Simulation, SimWorld, etc.
`tests/test_factory.py`	148	22 tests

Usage

from strands_robots import Robot
from strands import Agent

# The 5-line promise
robot = Robot("so100")           # auto-detects → sim
agent = Agent(tools=[robot])
agent("Pick up the red cube")

# Explicit modes
sim = Robot("so100", mode="sim")
hw = Robot("so100", mode="real", cameras={...})

# Discovery
from strands_robots import list_robots
list_robots(mode="sim")  # robots with sim support

Auto-detect logic

STRANDS_ROBOT_MODE env var (explicit override)
USB probe for servo controllers (Feetech/Dynamixel)
Default to "sim" (safest — never accidentally send commands to hardware)

Discussion point

Per Arron's feedback: "Robot always returned Robot. robot.backend returned HardwareRobot or Simulator instance" — current implementation is a factory function (returns the backend directly). Consider if Robot should be a wrapper class with .backend attribute for nicer typing.

Testing

✅ 22 new tests: name resolution, aliases, list filtering, auto-detect, factory, imports
✅ 357 total tests pass (335 + 22)
✅ Lint clean

Part 5 of 6 in the MuJoCo simulation PR decomposition

yinsong1986

All review comments addressed. LGTM.

awsarron · 2026-04-10T22:37:19Z

For all comments in this PR, we should examine common themes and include corrections for them in AGENTS.md so that future agent runs benefit from their lessons.

cagataycali · 2026-04-13T05:14:53Z

Review Thread Triage (14 unresolved)

Already fixed in code (4 threads from @yinsong1986) — need thread resolution:

Thread	Status	Commit
Resource leak on partial failure	✅ Fixed	`7699c0e`
`except (ImportError, Exception)` too broad	✅ Fixed	`7699c0e`
MUJOCO_GL env side effect docs	✅ Fixed	`7699c0e`
Missing happy-path sim test	✅ Fixed	`7699c0e`

New from @awsarron (10 threads, Apr 10) — need code work:

#	Thread	Type	Suggested action
1	Rename `factory.py` → `robot.py`	Architecture	Implement
2	Document all env vars in README	Docs	Implement
3	Default to sim, not hardware	Architecture	Implement
4	Rename `Robot` in `robot.py` → `HardwareRobot`	Architecture	Implement
5	Redundant code (line 190)	Cleanup	Implement
6	dataset_recorder: vague filename refs	Docs	Implement
7	Fixed camera shape/channels	Design question	Needs discussion
8	"where is this used?" (line 456)	Dead code?	Investigate
9	"is top-level best place for dataset_recorder?"	Architecture	Needs discussion
10	ThreadPoolExecutor never shut down	Bug fix	Implement

Additional blockers:

⚠️ Merge conflict with main (post chore: modernize build system — uv lockfile, Python >=3.12 #83 merge) — needs rebase
⚠️ Depends on PR feat: simulation foundation — models, ABC, factory, model registry, assets #84 merging first (simulation foundation classes referenced)

Recommendation: Wait for PR #84 to merge, then rebase and address @awsarron's 10 threads in one pass. Items 7 and 9 may need a design discussion before implementing.

🤖 Pipeline analysis by AI agent. Strands Agents. Feedback welcome!

1. Rename factory.py → robot.py, robot.py → hardware_robot.py Eliminates two 'Robot' classes in different files. The factory function now lives where users expect: strands_robots.robot.Robot 2. Default mode='sim' instead of mode='auto' Using real hardware should be an explicit decision since it affects the physical world. Robot('so100') now always returns simulation. Use mode='real' to explicitly opt into hardware control. 3. Fix ThreadPoolExecutor leak in _async_utils.py Register atexit.shutdown(wait=False) to clean up the module-level executor on interpreter exit. 4. Remove redundant list_robots() wrapper Was a 1-line passthrough to registry.list_robots(). Now __init__.py points directly to strands_robots.registry.list_robots. 5. Use module names in dataset_recorder docstring 'robot.py' → 'strands_robots.hardware_robot', 'simulation.py' → 'strands_robots.simulation' 6. Make camera shape configurable in dataset_recorder Added camera_shapes parameter to _build_features() instead of hardcoding (3, 480, 640). Default preserved for backward compat. 7. Add mode validation — invalid mode raises ValueError 8. Update __init__.py lazy imports for renamed modules Tests: 230 passed, 10 skipped, 0 failures Lint: ruff check + ruff format clean

cagataycali · 2026-04-14T20:47:03Z

📋 Review Status Summary

Hi @awsarron — this PR has 11/14 threads resolved. Here's a summary of the 3 remaining unresolved threads to help focus the re-review:

Unresolved Thread 1: "Document all env vars in README"

"we should document all env vars used in the entire project in the README, like we started in #85"

➔ Cross-PR dependency: This is being addressed in PR #87 (docs rewrite), which includes comprehensive env var documentation. Suggest resolving this thread with a note that #87 covers it, or merging #87 first.

Unresolved Thread 2: "Where is `load_lerobot_episode` used?"

"where is this used?"

➔ Needs author clarification: Is this function consumed by #85's recording/replay pipeline, or is it forward-looking API? If it's unused, removing it simplifies the PR.

Unresolved Thread 3: "Is top-level the best place for `dataset_recorder`?"

"is top-level the best place for this?"

➔ Architecture decision needed: Two alternatives:

Keep top-level if dataset_recorder is a primary user-facing utility (like Robot())
Move to strands_robots.recording sub-package if it's a specialized tool used mainly by simulation workflows

Overall Status

11/14 threads: ✅ Resolved
CI: ✅ Passing
Dependencies: This PR depends on feat: simulation foundation — models, ABC, factory, model registry, assets #84 (sim foundation) and feat: MuJoCo simulation backend — AgentTool with 35 actions #85 (MuJoCo), both of which have all threads resolved
Reviewers: @yinsong1986 APPROVED, @awsarron CHANGES_REQUESTED (11 of 14 addressed)

🤖 Automated review triage by Strands Agents. Feedback welcome!

…s-labs#86 - Add Environment Variables table to README documenting all 6 env vars used across the project (STRANDS_ROBOT_MODE, STRANDS_ASSETS_DIR, STRANDS_URDF_DIR, STRANDS_TRUST_REMOTE_CODE, GROOT_API_TOKEN, MUJOCO_GL) plus cache directory documentation - Add module-level docstring to dataset_recorder.py explaining why it lives at package root (shared by both hardware and simulation paths, avoids circular dependency) - Add docstring to load_lerobot_episode() documenting that it is consumed by simulation.mujoco.policy_runner for replay_episode

@yinsong1986

…ssets (#84) Simulation foundation layer for `strands-robots`. Pure Python, no MuJoCo dependency. Unblocks #85 (MuJoCo backend) and #86 (Robot factory). ## What's in **Simulation abstractions** (`strands_robots/simulation/`) - `models.py` — `SimWorld`, `SimRobot`, `SimObject`, `SimCamera`, `TrajectoryStep`, `SimStatus` dataclasses. Backend-agnostic: engine handles live in `_model`/`_data`, everything else in `_backend_state: dict`. - `base.py` — `SimEngine` ABC. 12 required abstract methods + 4 optional (raise `NotImplementedError`). Context-manager protocol. `__del__` logs cleanup errors at warning level. - `factory.py` — `create_simulation()` + `register_backend()` with duplicate/alias shadow protection (raises `ValueError`; `force=True` for intentional overrides). Descriptive `ImportError` when a built-in backend module isn't installed. - `model_registry.py` — URDF/MJCF resolution: user-registered → `STRANDS_ASSETS_DIR` → `~/.strands_robots/assets/` → CWD → `robot_descriptions` fallback. Resolves search paths at call time (no import-time `Path.cwd()` snapshot). - `__init__.py` — thin re-exports with lazy `__getattr__`. **Assets** (`strands_robots/assets/`) - `__init__.py` — thin exports only (repo convention). - `manager.py` — path resolution with `safe_join()` traversal protection. `_has_meshes()` uses `os.scandir` + early-exit, cached by `(path, mtime)`. Module-level guard for optional `[sim]` extra — no circular import with `download.py`. - `download.py` — all download logic (`robot_descriptions` → git clone fallback). `_shallow_clone()` enforces `_ALLOWED_CLONE_URL_RE` (HTTPS github.com only). `_copy_and_clean` filters ignored patterns at `copytree()` time so user files in the cache aren't clobbered. **Tools** (`strands_robots/tools/`) - `download_assets.py` — thin `@tool` wrapper (~78 lines) that delegates to `assets.download.download_robots()`. No duplicated logic. **Registry** (`strands_robots/registry/`) - `user_registry.py` — `register_robot()` / `unregister_robot()` persisted to `~/.strands_robots/user_robots.json`. Fails closed on missing asset dir. Warns on alias collisions at registration time. Docstring warns this must not be exposed as an agent `@tool` without `STRANDS_TRUST_REMOTE_CODE` gating (MJCF → MuJoCo plugin code-exec risk). - `loader.py` — merges user-local registry on top of package `robots.json`. Public `invalidate_cache()` API (no private imports from callers). - `robots.json` — 38 → 68 robots (adds aerial, expressive, mobile_manip categories). - `__init__.py` — re-exports `register_robot`, `unregister_robot`, `list_user_robots`, `invalidate_cache`. **Utils** (`strands_robots/utils.py`) - `get_base_dir()` reads `STRANDS_BASE_DIR` — decoupled from `STRANDS_ASSETS_DIR` so setting the assets path no longer drops `user_robots.json` into an unexpected parent. - `get_assets_dir()`, `resolve_asset_path()`, `safe_join()`, `get_search_paths()` — single source of truth; consumed by model_registry, user_registry, assets/manager. **Docs & packaging** - `README.md` — environment variables table (`STRANDS_BASE_DIR`, `STRANDS_ASSETS_DIR`, `GROOT_API_TOKEN`) + cache directory docs. - `AGENTS.md` — documents nested-asset-path convention (e.g. `xmls/asimov.xml` matching upstream layout) and the `auto_download` strategy invariant. - `pyproject.toml` — new `[sim]` extra (`robot_descriptions>=1.11.0,<2.0.0`); included in `[all]`. ## Design decisions **SimEngine ABC contract.** 12 required methods every physics engine must implement; 4 optional (`load_scene`, `run_policy`, `randomize`, `get_contacts`) raise `NotImplementedError` so unimplemented features are explicit during development. `get_observation`/`send_action` are deliberately facade methods bridging Sim ↔ Policy — the agent tool sees a single interface without needing to know the Robot vs Sim split. **Asset resolution order.** Customer assets always win over defaults: `STRANDS_ASSETS_DIR` → `~/.strands_robots/assets/` → `CWD/assets/` → `robot_descriptions` fallback. Single env var for the asset tree (`STRANDS_ASSETS_DIR`); separate `STRANDS_BASE_DIR` for the base dir that holds `user_robots.json`. **Backend registration.** `register_backend()` rejects duplicates by default and blocks shadowing of built-in aliases (`mj`, `mjc`, `mjx`) unless `force=True`. Alias conflicts caught at both the `name` and `aliases` parameters. **Security.** - `safe_join()` applied everywhere registry values flow into filesystem paths (manager + download + user registry). - `_shallow_clone()` URL regex rejects `ssh://`, `git://`, `file://`, non-github hosts. - `register_robot()` is library-only; not surfaced as `@tool`. Docstring spells out the MJCF-plugin exec risk. ## Testing - 338 unit tests pass, 6 skipped, 0 failures - `ruff check` + `ruff format --check`: clean (57 files) - `mypy`: 0 issues in 57 source files - New test files: - `tests/test_simulation_foundation.py` — ABC contracts, factory round-trip, context-manager cleanup - `tests/test_simulation_factory.py` — duplicate rejection, alias shadowing, missing-backend ImportError - `tests/test_user_registry.py` — register/unregister, persistence, validation, path traversal; asserts `STRANDS_ASSETS_DIR` does NOT move the base dir / registry - `tests/test_registry_integrity.py` — auto-download invariant, alias uniqueness, canonical-shadow protection, lerobot_type presence on hardware-only robots ## Review history | Reviewer | Status | Threads | |-------------------|---------------------------------------|-----------------| | @yinsong1986 | APPROVED | 3/3 resolved | | @awsarron | CHANGES_REQUESTED → all addressed | 50/50 addressed | | @max-rattray-aws | COMMENTED → all addressed | 3/3 resolved | Closes #84. --------- Co-authored-by: cagataycali <cagataycali@icloud.com> Co-authored-by: strands-agent <217235299+strands-agent@users.noreply.github.com>

Complete MuJoCo simulation backend composed of focused mixins: Simulation(AgentTool) ├── PhysicsMixin # raycasting, jacobians, energy, forces, │ # mass matrix, checkpoints, inverse dynamics ├── PolicyRunnerMixin # run_policy, eval_policy, replay_episode ├── RenderingMixin # RGB/depth offscreen rendering, observations ├── RecordingMixin # LeRobot dataset recording └── RandomizationMixin # domain randomization (colors, lighting, physics) Supporting modules: - backend.py: lazy mujoco import + headless GL auto-config (EGL/OSMesa/GLFW) - mjcf_builder.py: procedural MJCF XML generation from dataclasses - scene_ops.py: XML round-trip for runtime object/camera injection - simulation.py: orchestrator dispatching 35 actions via tool_spec.json - dataset_recorder.py: LeRobot v3 format recorder (parquet + video) Key design decisions: - Simulation extends AgentTool directly: Agent(tools=[Simulation()]) works - Lazy MuJoCo import via _ensure_mujoco() — only when first needed - XML round-trip for scene modification (standard: dm_control, robosuite) - Same Policy ABC for sim and real — zero code changes for transfer Tests: 47 new tests (12 E2E + 35 physics unit tests) All use self-contained inline XML robots (no external files needed).

…anup HIGH: - Simulation now inherits SimulationBackend ABC (isinstance works) - start_policy rejects concurrent execution per robot (thread-safety) - XML injection protection via _sanitize_name() in MJCFBuilder MEDIUM: - overwrite defaults to False in start_recording - Silent frame dropping now respects strict=True (AGENTS.md strands-labs#5) LOW: - Remove dead _numpy_ify code - Replace insecure tempfile.mktemp with NamedTemporaryFile - Remove unimplemented total_reward from eval_policy - Reuse ThreadPoolExecutor in _async_utils (50Hz perf fix)

- mjcf_builder.py: move 'import re' after docstring into import block - simulation.py: sort SimulationBackend import alphabetically - dataset_recorder.py: add strict param to __init__ signature - Run ruff format on both files All checks pass: ruff check ✅, ruff format ✅, 335 tests ✅

- Wrap data.ctrl writes + mj_step calls with self._lock in run_policy and eval_policy to prevent concurrent MuJoCo data access - Apply _sanitize_name() to ALL user-provided names interpolated into MJCF XML (geom, joint, mesh, camera), not just body names - Import _sanitize_name in scene_ops for camera name validation Addresses review comments on thread-safety and XML injection. ruff check ✅, ruff format ✅, 335 tests ✅

Adds mujoco>=3.0.0,<4.0.0 to the [sim] optional-dependencies group, and includes it in [all] so CI installs it via 'uv sync --extra all --extra dev'.

Address yinsong1986's feedback to namespace the optional dependency group as [sim-mujoco] for clarity when additional sim backends are added.

…pdate lazy imports

…t stubs - Add mujoco.* to third-party ignore-missing-imports list - Add mypy override for simulation.mujoco.* with disable_error_code for attr-defined (cooperative mixin pattern), assignment (implicit Optional), override (extended signatures), and misc (MRO conflicts) - Add mypy override for _async_utils and dataset_recorder (pre-existing) - Fix add_robot/add_object/add_camera/move_object signatures: use X | None - Fix set_gravity, cleanup, __enter__/__exit__/__del__ return annotations - Fix randomization seed: int → int | None - Fix backend _ensure_mujoco return type annotation - Fix __init__.py __getattr__ type annotation

Removed 4 error categories from disable_error_code (assignment, typeddict-item, index, return-value) by fixing the actual code: - physics.py: Fix 16 implicit Optional params (X = None → X | None = None) - rendering.py: Fix 3 implicit Optional params - recording.py: Fix 2 implicit Optional params + inline ignore for fallback - policy_runner.py: Fix 5 implicit Optional params + inline ignore for narrowed arg - simulation.py: Fix send_action/create_world signatures to match base, fix variable name reuse bug (result → recompile_result), inline ignore for TypedDict ** expansion Remaining suppressed (all legitimate): - attr-defined (137): cooperative mixin pattern (self._world on mixins) - misc (3): MRO conflicts + import fallback redefinition - override (1): add_object extends base with orientation/mesh_path params - import-not-found (1): imageio optional dep - import-untyped (1): internal zenoh_mesh - has-type (1): dynamic renderer cache

…able_error_code Replace blanket disable_error_code with proper type fixes: - Add TYPE_CHECKING attribute declarations to all 5 mixins (PhysicsMixin, RenderingMixin, RecordingMixin, PolicyRunnerMixin, RandomizationMixin) so mypy can verify self._world, self._lock, etc. - Add _push_to_hub field to SimWorld dataclass (was missing) - Add orientation + mesh_path params to SimEngine.add_object base signature - Add **kwargs to RandomizationMixin.randomize to match base - Simplify SimEngine.randomize to **kwargs (backends define own params) - Add assert guards for _world None checks in rendering methods - Restructure recording.py import fallback to avoid redefinition errors - Fix _apply_sim_action Protocol stubs to match real signatures Result: 0 mypy errors, 0 disable_error_code, only 2 inline type: ignore with specific codes (arg-type for narrowed var, typeddict-item for ** expansion)

- Replace bare with for consistent optional dependency handling per project conventions - Add imageio and imageio-ffmpeg to sim-mujoco extras in pyproject.toml - Add type: ignore comment for dynamic imageio writer attribute

@awsarron

…ng, tests, XML parsing Addresses all 8 unresolved review threads from @awsarron (Apr 10): 1. pyproject.toml: Remove empty [sim] extra, move robot_descriptions into [sim-mujoco]. Update extra= reference in backend.py. (yinsong1986 thread) 2. pyproject.toml: Keep sim-mujoco naming (not just mujoco) for consistency with future sim-isaac, sim-pybullet extras. (awsarron nit — reply only) 3. mujoco/__init__.py: Stop exporting private functions (_configure_gl_backend, _ensure_mujoco, _is_headless). Internal callers already import from backend directly. (awsarron thread) 4. simulation.py: Centralize _ensure_mujoco() to __init__ — fail fast at construction time. Store as self._mj, use throughout Simulation methods. Mixins retain their own _ensure_mujoco() calls since they may be used independently. (awsarron thread) 5. backend.py: Add docstring explaining why _is_headless() is Linux-only — Windows uses WGL, macOS uses CGL, both support offscreen natively. (awsarron thread) 6. policy_runner.py: Replace duplicated private function TYPE_CHECKING stubs with a shared SimulationProtocol in new types.py module. Eliminates coupling via signature duplication. (awsarron thread) 7. test_mujoco_e2e.py: Add TestToolSpecActionCoverage — iterates every action enum in tool_spec.json and asserts hasattr(Simulation, method) via the alias map. Catches drift between spec and implementation. (awsarron thread) 8. scene_ops.py: Standardize on ElementTree for all XML manipulation. Converted inject_object_into_scene, inject_camera_into_scene, and _patch_xml_paths from regex/string.replace to ET. Kept regex fallback in _patch_xml_paths for malformed fragments. (awsarron thread)

…olicyRunnerMixin The `_: SimulationProtocol` pattern declares a class variable named `_` but does NOT propagate Protocol member declarations to mypy's understanding of the class. This caused 34 attr-defined errors in policy_runner.py. Fix: Replace with direct attribute declarations under TYPE_CHECKING, matching the pattern used by PhysicsMixin, RenderingMixin, RecordingMixin, and RandomizationMixin. The SimulationProtocol in types.py is preserved for runtime checks and documentation — it's the TYPE_CHECKING usage pattern that was incorrect. Lint: 0 errors (ruff check + ruff format + mypy) Tests: 323 passed, 2 skipped, 0 failures

Post-strands-labs#84 merge: SimWorld no longer carries MuJoCo-specific private fields (_xml, _robot_base_xml, _recording, _trajectory, _dataset_recorder, _tmpdir, _push_to_hub). These are MuJoCo backend implementation details and now live in world._backend_state, as the SimWorld docstring requests (prefer _backend_state over new fields). Migrated call sites: - mjcf_builder.py: tmpdir - policy_runner.py: recording, trajectory, dataset_recorder - recording.py: recording, trajectory, dataset_recorder, push_to_hub - scene_ops.py: robot_base_xml - simulation.py: xml, robot_base_xml, recording, trajectory Reads use dict[] where preceded by a guard that guarantees initialization (e.g. start_recording() sets before policy_runner reads), and .get() with sensible defaults where the key may be unset. Tests: 392 passed, 2 skipped (5 pre-existing test_path_validation failures are on main too — unrelated). Lint: ruff + mypy clean on 75 source files.

Add unified Robot() factory function that auto-detects sim vs real: Robot('so100') → auto-detect → MuJoCo sim (default) Robot('so100', mode='sim') → Simulation AgentTool Robot('so100', mode='real') → HardwareRobot AgentTool Auto-detect priority: 1. STRANDS_ROBOT_MODE env var (explicit override) 2. USB probe for servo controllers (Feetech/Dynamixel) 3. Default to sim (safest — never accidentally send to hardware) Also adds list_robots(mode='all'|'sim'|'real'|'both') for discovery. Updates __init__.py with lazy imports: - Robot (→ factory), list_robots - Simulation, SimWorld, SimRobot, SimObject, SimCamera - Auto-configures MuJoCo GL backend for headless environments Tests: 22 new factory tests covering name resolution, aliases, list_robots filtering, auto-detect mode, Robot() factory, imports.

… test - sim.destroy() on partial factory failure (prevents resource leak) - except (ImportError, OSError) instead of bare Exception for USB probing - Added comment explaining why GL backend config must run eagerly - Added happy-path MuJoCo test gated behind pytest.importorskip

…detect p.description and p.manufacturer can both be None on some platforms. Guard with 'or ""' to prevent TypeError on string concatenation. All checks pass: ruff check ✅, ruff format ✅, 358 tests ✅

The test was calling Robot('so100') which requires downloaded URDF/mesh assets not available in CI. Now uses a minimal inline MJCF XML via tmp_path + urdf_path param — tests MuJoCo physics without external deps.

1. Rename factory.py → robot.py, robot.py → hardware_robot.py Eliminates two 'Robot' classes in different files. The factory function now lives where users expect: strands_robots.robot.Robot 2. Default mode='sim' instead of mode='auto' Using real hardware should be an explicit decision since it affects the physical world. Robot('so100') now always returns simulation. Use mode='real' to explicitly opt into hardware control. 3. Fix ThreadPoolExecutor leak in _async_utils.py Register atexit.shutdown(wait=False) to clean up the module-level executor on interpreter exit. 4. Remove redundant list_robots() wrapper Was a 1-line passthrough to registry.list_robots(). Now __init__.py points directly to strands_robots.registry.list_robots. 5. Use module names in dataset_recorder docstring 'robot.py' → 'strands_robots.hardware_robot', 'simulation.py' → 'strands_robots.simulation' 6. Make camera shape configurable in dataset_recorder Added camera_shapes parameter to _build_features() instead of hardcoding (3, 480, 640). Default preserved for backward compat. 7. Add mode validation — invalid mode raises ValueError 8. Update __init__.py lazy imports for renamed modules Tests: 230 passed, 10 skipped, 0 failures Lint: ruff check + ruff format clean

…s-labs#86 - Add Environment Variables table to README documenting all 6 env vars used across the project (STRANDS_ROBOT_MODE, STRANDS_ASSETS_DIR, STRANDS_URDF_DIR, STRANDS_TRUST_REMOTE_CODE, GROOT_API_TOKEN, MUJOCO_GL) plus cache directory documentation - Add module-level docstring to dataset_recorder.py explaining why it lives at package root (shared by both hardware and simulation paths, avoids circular dependency) - Add docstring to load_lerobot_episode() documenting that it is consumed by simulation.mujoco.policy_runner for replay_episode

Post-rebase on top of clean PR-85 (which enforces zero mypy errors), hardware_robot.py needed the same strictness: - __init__, cleanup, __del__, stop: add -> None - task_runner (nested): add -> None - **kwargs: add : Any annotation (3 methods) Result: 77/77 source files mypy clean.

cagataycali · 2026-04-22T19:24:18Z

Rebased onto the updated #85 (which itself is now rebased on main).

Stack status:

feat: simulation foundation — models, ABC, factory, model registry, assets #84 — merged ✅
feat: MuJoCo simulation backend — AgentTool with 35 actions #85 — rebased, MERGEABLE, 15 commits on top of main
feat: Robot() factory + top-level lazy imports #86 (this) — now rebased on top of feat: MuJoCo simulation backend — AgentTool with 35 actions #85, 7 commits

What changed:

Dropped the 10 commits that duplicated PR-84/feat: MuJoCo simulation backend — AgentTool with 35 actions #85 content (their contents are in main + feat: MuJoCo simulation backend — AgentTool with 35 actions #85 now)
Kept the 6 PR-86-unique commits, replayed onto the new feat: MuJoCo simulation backend — AgentTool with 35 actions #85 base
Added one new commit fix(hardware_robot): add missing type annotations for mypy strict — since feat: MuJoCo simulation backend — AgentTool with 35 actions #85 now enforces zero mypy errors across 77 source files, hardware_robot.py (new in this PR) needed matching strict annotations (-> None on 4 methods, **kwargs: Any on 3)

Conflict resolution:

README.md Configuration section: took PR-86's version (it's a richer superset of HEAD, adds STRANDS_ROBOT_MODE, STRANDS_TRUST_REMOTE_CODE, MUJOCO_GL)
[sim-mujoco] rename commit skipped as a no-op (feat: MuJoCo simulation backend — AgentTool with 35 actions #85 already has it)

Quality gate:

hatch run lint — ruff + format + mypy all clean (77 source files)
hatch run test — 415 passed (+22 new factory tests), 4 skipped; same 5 pre-existing test_path_validation failures are on main too; unrelated

⚠️ Merge order reminder: This PR targets main but depends on #85. Either merge #85 first, or change this PR's base to feat/mujoco-backend for a stacked review flow.

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docs: rewrite README, update AGENTS.md, add 8 examples #87

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early review: feat: MuJoCo Simulation Backend + Build System Modernization #80

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

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feat: MuJoCo simulation backend — AgentTool with 35 actions #85

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strands-labs/robots roadmap | v0.3.8 → v0.3.9 → v0.4.0 #94

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cagataycali modified the milestones: v0.4.0, v0.3.9 Apr 21, 2026

This was referenced Apr 21, 2026

feat(mesh): Zenoh peer-to-peer mesh for Robot() — fleet coordination #95

Closed

feat(mesh): Zenoh-based Robot Mesh — fleet coordination primitive #98

Open

Follow-up: address review items from PR #84 #105

Closed

cagataycali and others added 21 commits April 22, 2026 15:11

ci: add MuJoCo system deps (libosmesa6-dev + MUJOCO_GL=osmesa)

37cdb19

feat: add [sim] extra with mujoco dependency

9987c23

Adds mujoco>=3.0.0,<4.0.0 to the [sim] optional-dependencies group, and includes it in [all] so CI installs it via 'uv sync --extra all --extra dev'.

fix: rename [sim] extra to [sim-mujoco] per review

8a6c510

Address yinsong1986's feedback to namespace the optional dependency group as [sim-mujoco] for clarity when additional sim backends are added.

fix: rebase on simulation-foundation — SimulationBackend→SimEngine, u…

2f6d6e6

…pdate lazy imports

feat(sim): use require_optional for imageio in policy_runner

4ca9173

- Replace bare with for consistent optional dependency handling per project conventions - Add imageio and imageio-ffmpeg to sim-mujoco extras in pyproject.toml - Add type: ignore comment for dynamic imageio writer attribute

fix: handle None in serial port description/manufacturer during auto-…

33c45eb

…detect p.description and p.manufacturer can both be None on some platforms. Guard with 'or ""' to prevent TypeError on string concatenation. All checks pass: ruff check ✅, ruff format ✅, 358 tests ✅

fix: use inline MJCF in test_sim_happy_path so CI works without assets

9af0a55

The test was calling Robot('so100') which requires downloaded URDF/mesh assets not available in CI. Now uses a minimal inline MJCF XML via tmp_path + urdf_path param — tests MuJoCo physics without external deps.

cagataycali force-pushed the feat/robot-factory branch from 449aa05 to 0917c24 Compare April 22, 2026 19:23

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feat: Robot() factory + top-level lazy imports#86

feat: Robot() factory + top-level lazy imports#86
cagataycali wants to merge 22 commits intostrands-labs:mainfrom
cagataycali:feat/robot-factory

cagataycali commented Apr 1, 2026

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yinsong1986 left a comment

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awsarron commented Apr 10, 2026

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cagataycali commented Apr 13, 2026

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cagataycali commented Apr 14, 2026

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cagataycali commented Apr 22, 2026

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cagataycali commented Apr 1, 2026

TL;DR

What changed

Usage

Auto-detect logic

Discussion point

Testing

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awsarron commented Apr 10, 2026

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cagataycali commented Apr 13, 2026

Review Thread Triage (14 unresolved)

Already fixed in code (4 threads from @yinsong1986) — need thread resolution:

New from @awsarron (10 threads, Apr 10) — need code work:

Additional blockers:

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cagataycali commented Apr 14, 2026

📋 Review Status Summary

Unresolved Thread 1: "Document all env vars in README"

Unresolved Thread 2: "Where is load_lerobot_episode used?"

Unresolved Thread 3: "Is top-level the best place for dataset_recorder?"

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cagataycali commented Apr 22, 2026

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Unresolved Thread 2: "Where is `load_lerobot_episode` used?"

Unresolved Thread 3: "Is top-level the best place for `dataset_recorder`?"