First robot, in simulation¶

python3 -m pip install "strands-robots[sim]"

from strands_robots import Robot

with Robot("so101", mode="sim") as arm:
    obs = arm.observe()
    print(sorted(obs.joints))                  # six joints, radians
    receipt = arm.act({"shoulder_pan": 0.3})   # one position command
    print(receipt.commanded, receipt.clamped)  # what was written; True if the step clamp engaged

What happened:

line	contract
`Robot("so101", mode="sim")`	the registry row `so101` has a MuJoCo asset; `Robot` builds a `SimDriver` over a `MujocoEngine`
`observe()`	`Observation(joints, images, sensors, t, frame)`; `frame` is the driver's `UnitFrame` (radians)
`act({...})`	the chokepoint: keys checked against `joint_names`, values finite, step clamped to the row's `max_step`
`with`	`close()` frees the engine; `is_connected()` asks the leaf

The same from the shell:

strands-robots list
strands-robots observe so101 --mode sim
strands-robots move so101 '{"shoulder_pan": 0.3}' --mode sim

Every robot with a sim tag on the cards works here. Next: the same arm, real.