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Robot control (real hardware)

Robot(name, mode="real", ...) returns a strands_robots.hardware_robot.Robot.

from strands_robots import Robot

robot = Robot(
    "so100",
    mode="real",
    cameras={"wrist": {"type": "opencv", "index_or_path": "/dev/video0"}},
    port="/dev/tty.usbserial-A50285BI",
    control_frequency=50.0,
)

robot.start_task(
    instruction="pick up the cube",
    policy_provider="groot",
    policy_port=5555,
    duration=30.0,
)

status = robot.get_task_status()
robot.stop_task()
robot.cleanup()

Constructor parameters

Param What
tool_name Tool identifier for the agent.
robot LeRobot Robot instance, RobotConfig, or string (e.g. "so100").
cameras {name: config_dict}. Config keys: type, index_or_path, fps, width, height, serial.
action_horizon Actions per inference step (default 8).
data_config GR00T data_config name.
control_frequency Control loop Hz (default 50).
**kwargs Forwarded to LeRobot backend (port, robot_ip, kp, kd, …). Unknown kwargs raise ValueError.

Task lifecycle

TaskStatus: IDLE → CONNECTING → RUNNING → COMPLETED / STOPPED / ERROR

Method What
start_task(instruction, policy_port, policy_host, policy_provider, duration) Async; returns immediately.
stop_task() Halt running policy.
get_task_status() Returns RobotTaskState (status, step count, error).
cleanup() Stop tasks, close cameras, stop mesh.

AgentTool actions

Action Blocking? Needs
execute Yes instruction + policy_port
start No instruction + policy_port
status - -
stop - -

Mesh teleop

robot.start_teleop_publish(teleoperator, device_name="leader", method="joint", hz=50)
robot.start_teleop_receive(source_peer_id="leader-abc123", device_name="follower", apply_fn=fn)
robot.get_teleop_status()
robot.stop_teleop()   # stop all sessions

Sim vs real

Feature Simulation HardwareRobot
Joint control MuJoCo data.ctrl LeRobot servo writes
Cameras add_camera() post-construction cameras= at construction
Reset reset() rewinds to t=0 Holds current pose
Randomization randomize(...) N/A
Policy execution run_policy() / start_policy() start_task() / execute action

See also