Mesh

Zenoh on the LAN, a Zenoh router across networks. Presence, state, correlated RPC, and one fleet e-stop.

Terminal one, a peer per robot:

python3 -m pip install "strands-robots[sim,mesh]"
strands-robots serve so101 --mode sim --peer-id arm-b

Terminal two, another peer that asks it:

from strands_robots import Robot
from strands_robots.mesh import Mesh

with Robot("so101", mode="sim") as arm, Mesh(arm, "arm-a") as mesh:
    reply = mesh.ask("arm-b", "observe", timeout_s=2.0)    # the remote result, or its refusal raised here
    print(reply["joints"])
    peers = mesh.peers                         # peer_id -> Peer(is_connected, state, ...); presence lands within 1 s
    mesh.estop.emergency_stop("operator: person in the cell")

key	carries
strands/<ns>/<peer>/presence	who is here
strands/<ns>/<peer>/state	joints at the robot's control rate
strands/<ns>/<peer>/rpc/req rpc/rep	correlated verbs
strands/<ns>/<peer>/safety	e-stop and resume

Inbound act passes the per-robot allowlist, bounds, signature and replay window before it reaches robot.act. STRANDS_MESH_BACKEND=loopback runs two peers in one process with no zenoh. Every e-stop is appended to ~/.strands_robots/mesh_audit.jsonl. Knobs: configuration.