Driver

Generated from strands_robots.core.contracts.Driver at build.

The surface every robot backend exposes, sim and real alike.

send_action receives an action the chokepoint (Robot.act) has already validated and clamped; the driver converts frames and writes the wire. Sensor members beyond joint_names (imu, battery, pose) are optional and read by consumers with getattr(driver, name, None).

Shape: structural Protocol (runtime checkable): implement the members, import nothing.

Members

signature	contract
tool_name -> str property	The name an agent invokes this robot by.
native_frame -> UnitFrame property	The frame send_action consumes and get_observation reports.
joint_names -> tuple[str, ...] property	Joint keys, in the wire's order.
connect_eagerly() -> None	Open the wire now, raising :class:~strands_robots.core.errors.HardwareError on failure.
is_connected() -> bool	Whether the wire is live, asked of the wire, never cached.
get_observation() -> Observation	One reading in native_frame.
send_action(action: Action) -> Receipt	Command one validated, clamped action; return what was written.
run_policy(policy: Policy, instruction: str, duration_s: float) -> RunReport	Run a policy loop on the wire's own clock; drivers without a loop raise NO_POLICY_LOOP.
stop() -> None	Halt motion now; keep the wire open.
cleanup() -> None	Torque off where the hardware allows, release the wire; idempotent.

Where it is used

Contracts return typed values and raise strands_robots.core.errors; the agent envelope is built in tools/. The types they exchange are in strands_robots.core.types; the frame they agree on is UnitFrame. Why the shapes are what they are: VISION.md.