strands-robots 0.3.2

Robot Control with LeRobot Integration for Strands Agents

Strands Robots

Robot control for Strands Agents.

Install

pip install strands-robots

Quick Start

from strands import Agent
from strands_robots import Robot, gr00t_inference

# Create robot with cameras
robot = Robot(
    tool_name="my_arm",
    robot="so101_follower",
    cameras={
        "front": {"type": "opencv", "index_or_path": "/dev/video0", "fps": 30},
        "wrist": {"type": "opencv", "index_or_path": "/dev/video2", "fps": 30}
    },
    port="/dev/ttyACM0",
    data_config="so100_dualcam"
)

# Create agent with robot tool
agent = Agent(tools=[robot, gr00t_inference])

# Start GR00T inference service
agent.tool.gr00t_inference(
    action="start",
    checkpoint_path="/path/to/checkpoint",
    port=8000,
    data_config="so100_dualcam"
)

# Control robot with natural language
agent("Use my_arm to pick up the red block using GR00T policy on port 8000")

# Cleanup
agent.tool.gr00t_inference(action="stop", port=8000)

Features

• Robot Support - LeRobot integration (SO-100/101, Fourier GR-1, Unitree G1, Panda)
• Policy Abstraction - Clean interface for any VLA provider (GR00T, ACT, etc.)
• Multi-Camera - OpenCV and RealSense support with batch capture
• Serial Communication - Feetech servo control and monitoring
• Strands Tools - Camera, inference service, and serial tools included

Architecture

strands-robots/
├── robot.py              # Universal Robot class
├── policies/             # Policy abstraction
│   ├── __init__.py       # Policy base + factory
│   └── groot/            # GR00T implementation
│       ├── client.py     # ZMQ client
│       └── data_config.py # 6 embodiment configs
└── tools/                # Strands tools
    ├── gr00t_inference.py  # Docker service manager
    ├── lerobot_camera.py   # Camera operations
    └── serial_tool.py      # Serial communication

Supported Robots

• SO-100/SO-101 - Single camera or dual camera modes
• Fourier GR-1 - Bimanual humanoid arms
• Unitree G1 - Humanoid robot platform
• Bimanual Panda - Dual Franka Emika arms
• Any LeRobot-compatible robot

Policy Providers

from strands_robots import create_policy

# GR00T policy
policy = create_policy(
    provider="groot",
    data_config="so100_dualcam",
    host="localhost",
    port=8000
)

# Mock policy (testing)
policy = create_policy(provider="mock")

Camera Tool

# Discover cameras
agent.tool.lerobot_camera(action="discover")

# Capture single image
agent.tool.lerobot_camera(
    action="capture",
    camera_id="/dev/video0",
    save_path="./captures"
)

# Batch capture from multiple cameras
agent.tool.lerobot_camera(
    action="capture_batch",
    camera_ids=["/dev/video0", "/dev/video2"],
    async_mode=True
)

# Record video
agent.tool.lerobot_camera(
    action="record",
    camera_id="/dev/video0",
    capture_duration=10.0
)

GR00T Inference Service

# Start service
agent.tool.gr00t_inference(
    action="start",
    checkpoint_path="/data/checkpoints/model",
    port=8000,
    data_config="so100_dualcam",
    denoising_steps=4
)

# Check status
agent.tool.gr00t_inference(action="status", port=8000)

# List all services
agent.tool.gr00t_inference(action="list")

# Stop service
agent.tool.gr00t_inference(action="stop", port=8000)

Serial Communication

# List available ports
agent.tool.serial_tool(action="list_ports")

# Control Feetech servo position
agent.tool.serial_tool(
    action="feetech_position",
    port="/dev/ttyACM0",
    motor_id=1,
    position=2048  # Center position
)

# Monitor serial data
agent.tool.serial_tool(
    action="monitor",
    port="/dev/ttyACM0",
    baudrate=1000000
)

Custom Robot Configuration

from lerobot.robots.config import RobotConfig

# Use LeRobot config directly
config = RobotConfig(...)
robot = Robot(tool_name="custom", robot=config)

# Or pass LeRobot Robot instance
from lerobot.robots.robot import Robot as LeRobotRobot
lerobot_instance = LeRobotRobot(...)
robot = Robot(tool_name="custom", robot=lerobot_instance)

Data Configs

Available GR00T data configurations:

• so100 - Single camera SO-100
• so100_dualcam - Dual camera SO-100 (front + wrist)
• so100_4cam - Quad camera SO-100
• fourier_gr1_arms_only - Fourier GR-1 arms
• bimanual_panda_gripper - Bimanual Panda
• unitree_g1 - Unitree G1 humanoid

License

Apache-2.0

Links

• Issues: https://github.com/cagataycali/strands-robots/issues
• Strands SDK: https://github.com/strands-agents/sdk-python