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>=0.6.0,<0.7.0`	`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]"

lerobot 0.6 pulls torchcodec on aarch64 itself (its dependency marker now covers linux aarch64 and pins the torch-ABI-matched torchcodec 0.11), so the video decoder resolves without a strands override. 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¶

MolmoAct2 checkpoints (e.g. allenai/MolmoAct2-SO100_101) resolve straight from PyPI now that lerobot >= 0.6 ships MolmoAct2Policy (it was added after lerobot 0.5.1). See LeRobot Local: MolmoAct2 for full instructions. Quick path:

# The [molmoact2] extra layers transformers, peft, scipy on top of lerobot >= 0.6;
# lerobot 0.6 pulls the aarch64 torchcodec decoder itself:
uv pip install "strands-robots[molmoact2]"

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