Installation¶

Requires Python >= 3.12. Examples use uv (curl -LsSf https://astral.sh/uv/install.sh | sh); plain pip install works too.

Extras matrix¶

Extra	Pulls in	When you need it
(none)	core only - Robot factory, registry, lazy imports	Inspect the catalog, write tools
`[sim]`	`robot_descriptions`	Sim asset resolution without MuJoCo
`[sim-mujoco]`	`sim` + `mujoco`, `imageio`, `imageio-ffmpeg`	Any `Robot()` with default `mode="sim"`
`[lerobot]`	`lerobot>=0.5.0,<0.6.0`	`LerobotLocalPolicy` + dataset recording
`[groot-service]`	`pyzmq`, `msgpack`	`Gr00tPolicy` (ZMQ to a GR00T container)
`[cosmos3-service]`	`msgpack`, `websockets`	`Cosmos3Policy` (WebSocket to Cosmos 3 server)
`[mesh]`	`eclipse-zenoh`, `json5`	Multi-robot mesh discovery + RPC
`[mesh-iot]`	`mesh` + `awsiotsdk`, `awscrt`, `boto3`	AWS IoT Core transport for mesh
`[benchmark-libero]`	`libero` eval deps	LIBERO benchmark suite
`[all]`	`groot-service` + `lerobot` + `sim-mujoco` + `mesh` + `mesh-iot`	Demos, CI, exploration
`[dev]`	`pytest`, `pytest-cov`, `ruff`, `mypy`, `pytest-timeout`	Contributing

uv pip install "strands-robots[sim-mujoco]"                  # sim only
uv pip install "strands-robots[all]"                         # everything
uv pip install "strands-robots[sim-mujoco,cosmos3-service]"  # Cosmos 3
uv pip install "strands-robots[sim-mujoco,lerobot,mesh]"     # pick and choose

Platform notes¶

macOS: works out of the box (arm64 + Intel).

Linux (headless / real hardware):

sudo apt install libosmesa6-dev ffmpeg
sudo usermod -aG dialout $USER   # USB serial access; re-login after

Windows: WSL2 + Ubuntu 22.04 (native Windows works for sim, not actively tested).

Jetson / aarch64 (JetPack):

uv pip install "numpy<2" "pandas==2.1.4"
uv pip install "strands-robots[sim-mujoco,lerobot]"

The [lerobot] extra includes torchcodec on aarch64 (required because torchvision 0.26 removed VideoReader and lerobot's own torchcodec marker excludes aarch64). If torch CUDA is needed on Jetson, ensure you install from NVIDIA's index or set UV_TORCH_BACKEND=auto:

export UV_TORCH_BACKEND=auto   # resolves +cu130 wheels for Thor/Jetson
uv pip install "strands-robots[sim-mujoco,lerobot]"

MolmoAct2 on Jetson (lerobot from source)¶

MolmoAct2 checkpoints (e.g. allenai/MolmoAct2-SO100_101) require lerobot from source (git main) because MolmoAct2Policy was added after lerobot 0.5.1 (the latest PyPI release). See LeRobot Local: MolmoAct2 for full instructions. Quick path:

# Install lerobot from source (skips pyav if it fails on aarch64):
uv pip install "lerobot[feetech] @ git+https://github.com/huggingface/lerobot.git" --no-build-isolation
uv pip install torchcodec>=0.7   # video decode backend for aarch64

This will be unnecessary once lerobot >= 0.5.2 is published to PyPI.

Headless rendering¶

export MUJOCO_GL=osmesa     # software rendering - Linux
export MUJOCO_GL=egl        # hardware EGL

Or in Python before first import:

import os
os.environ["MUJOCO_GL"] = "osmesa"
from strands_robots import Robot

Verify¶

from strands_robots import Robot

sim = Robot("so100")
sim.step()
obs = sim.get_observation("so100")
# obs is a flat dict mixing per-joint state floats and per-camera ndarrays:
#   {'shoulder_pan.pos': 0.0, ..., 'gripper.pos': 0.0, 'default': <HxWx3 uint8>}
print(list(obs.keys()))

Assets cache under ~/.strands_robots/assets/.

Environment variables¶

Env var	What	Default
`STRANDS_ASSETS_DIR`	Robot model asset cache	`~/.strands_robots/assets/`
`STRANDS_MESH_AUDIT_DIR`	Safety audit log	`~/.strands_robots/`
`MUJOCO_GL`	GL backend	auto
`STRANDS_TRUST_REMOTE_CODE`	Allow HF `trust_remote_code=True`	`false`
`STRANDS_ROBOT_MODE`	Default `Robot()` mode	`sim`
`STRANDS_MESH`	Mesh enabled by default; set to `false` to disable globally	`true` (enabled)
`GROOT_API_TOKEN`	GR00T service API token (falls back from `api_token=` kwarg)	unset