Custom policies

# my_policy.py
from strands_robots.policies import Policy, register_policy

class MyPolicy(Policy):
    async def get_actions(self, observation_dict, instruction, **kwargs):
        return [{"motor.0": 0.5, "motor.1": -0.2}]   # list of action dicts

    def set_robot_state_keys(self, keys: list[str]) -> None:
        self._keys = keys

    @property
    def provider_name(self) -> str:
        return "my_provider"

    @property
    def requires_images(self) -> bool:
        return False   # True (default) = cameras required; False = state-only

register_policy("my_provider", lambda: MyPolicy, aliases=["mine"])

# usage
import my_policy                              # side-effect: runs register_policy
from strands_robots.policies import create_policy
from strands_robots import Robot

policy = create_policy("my_provider")         # or "mine"
sim = Robot("so100")
sim.run_policy(robot_name="so100", instruction="do something",
               policy_object=policy, duration=5.0)

Permanent registration (JSON)

Add to strands_robots/registry/policies.json:

{
  "my_provider": {
    "module": "my_pkg.my_policy",
    "class": "MyPolicy",
    "shorthands": ["mine"],
    "description": "My custom policy."
  }
}

The factory imports lazily on first use.

ABC contract

Method / property	Abstract	Default
async get_actions(obs, instruction, **kw) -> list[dict]	yes	-
set_robot_state_keys(keys)	yes	-
provider_name (property)	yes	-
requires_images (property)	no	True
reset(seed=None)	no	no-op
get_actions_sync(...)	no	sync wrapper

See also

• Policy overview - factory, providers.
• cuRobo - reference non-VLA goal-kwargs planner.
• Architecture
• strands_robots/policies/mock.py - minimal reference implementation.