feat: simulation foundation — models, ABC, factory, model registry, assets#84
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cagataycali wants to merge 2 commits intostrands-labs:mainfrom
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feat: simulation foundation — models, ABC, factory, model registry, assets#84cagataycali wants to merge 2 commits intostrands-labs:mainfrom
cagataycali wants to merge 2 commits intostrands-labs:mainfrom
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- Bump requires-python from >=3.10 to >=3.12 - Move opencv-python-headless and Pillow to [sim] extra - Add [sim] extra: mujoco, robot_descriptions, opencv, Pillow - Add .python-version (3.12) - Add uv.lock for deterministic builds - Switch CI from hatch to uv - Add libosmesa6-dev to CI for MuJoCo headless rendering - Remove hatch env scripts (use uv run directly) - Remove --cov from pytest addopts (run coverage explicitly) - Update ruff target-version and mypy python_version to 3.12 - Trim pyproject.toml comments for readability Why Python 3.12+: match statements, type aliases, ExceptionGroup patterns used in upcoming simulation code. MuJoCo 3.x works best with 3.12+. No users have reported needing 3.10/3.11 support. Why move opencv/Pillow to [sim]: core strands-robots (hardware control only) shouldn't require heavy image processing deps.
…ssets Add the lightweight simulation framework abstractions: - simulation/models.py: Dataclasses (SimWorld, SimRobot, SimObject, SimCamera, TrajectoryStep, SimStatus) — pure data, no physics deps - simulation/base.py: SimulationBackend ABC defining the contract all backends (MuJoCo, Isaac, Newton) must implement - simulation/factory.py: create_simulation() + pluggable backend registration system - simulation/model_registry.py: URDF/MJCF path resolution via robot_descriptions package + search paths + custom registration - assets/: Asset manager for auto-downloading robot meshes from MuJoCo Menagerie on first use - tools/download_assets.py: @tool for asset downloads - tests/test_simulation_foundation.py: 22 tests covering dataclasses, ABC instantiation/contracts, factory registration, model registry No MuJoCo import required — all abstractions are lightweight.
cagataycali
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Apr 1, 2026
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when PR #83 merged this lines will disappear during rebase ^^
This was referenced Apr 1, 2026
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TL;DR
Add lightweight simulation framework abstractions: dataclasses, ABC, factory, model registry, and asset manager. No MuJoCo dependency — all pure Python with stdlib + dataclasses.
What's in this PR
simulation/models.pySimWorld,SimRobot,SimObject,SimCamera,TrajectoryStep,SimStatussimulation/base.pySimulationBackendABC — interface contract for all backendssimulation/factory.pycreate_simulation()+ pluggable backend registrationsimulation/model_registry.pyrobot_descriptions+ search pathssimulation/__init__.pyassets/__init__.pyassets/download.pytools/download_assets.py@toolfor asset downloadstests/test_simulation_foundation.pyDesign
The ABC defines 12 abstract methods (create_world, step, add_robot, render, etc.) plus optional methods with default no-op implementations (run_policy, randomize, get_contacts). Context manager protocol included.
Testing
import mujocoanywhere in this PRPart 3 of 6 in the MuJoCo simulation PR decomposition