feat: add Device Connect integration (on top of main)

.github/workflows/test-lint.yml

@@ -18,6 +18,8 @@ jobs:
         uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683  # v4.2.2
         with:
           ref: ${{ inputs.ref }}
+          # Need history so we can diff the changed paths against the base.
+          fetch-depth: 0
           persist-credentials: false
 
       - name: Set up Python
@@ -31,6 +33,46 @@ jobs:
           sudo apt-get update
           sudo apt-get install -y libosmesa6-dev ffmpeg
 
+      # The Device Connect integration (strands_robots/device_connect) can
+      # depend on changes in the device-connect-edge / agent-tools packages
+      # that are not yet on PyPI. When this PR touches the integration, install
+      # those packages from source (DEVICE_CONNECT_SOURCE_REF) so CI exercises
+      # the matching version instead of the published one.
+      - name: Detect Device Connect integration changes
+        id: dc_changed
+        run: |
+          BASE="origin/${{ github.base_ref || 'main' }}"
+          git fetch origin "${{ github.base_ref || 'main' }}" --depth=1 || true
+          if git diff --name-only "$BASE"...HEAD 2>/dev/null | grep -q '^strands_robots/device_connect/'; then
+            echo "changed=true" >> "$GITHUB_OUTPUT"
+            echo "Device Connect integration changed -> will install device-connect from source"
+          else
+            echo "changed=false" >> "$GITHUB_OUTPUT"
+            echo "No Device Connect integration changes -> using published device-connect-edge"
+          fi
+
+      - name: Pin device-connect to source (integration changed)
+        if: steps.dc_changed.outputs.changed == 'true'
+        env:
+          # Source of truth for the device-connect packages while the
+          # corresponding device-connect PR is unreleased. Update the ref (or
+          # repo) here to point at the branch/tag that carries the matching
+          # changes; revert to the published wheel once it ships to PyPI.
+          DEVICE_CONNECT_REPO: ${{ vars.DEVICE_CONNECT_REPO || 'arm/device-connect' }}
+          DEVICE_CONNECT_SOURCE_REF: ${{ vars.DEVICE_CONNECT_SOURCE_REF || 'main' }}
+        run: |
+          # The hatch test env is an ISOLATED uv venv, so an outer `pip install`
+          # would not reach it. Instead we write a uv override file: uv MERGES
+          # UV_OVERRIDE entries with the pyproject [tool.uv] override-dependencies
+          # (torch pins), so this redirects ONLY the device-connect packages to
+          # source without disturbing anything else.
+          cat > "${GITHUB_WORKSPACE}/dc-source-override.txt" <<EOF
+          device-connect-edge @ git+https://github.com/${DEVICE_CONNECT_REPO}.git@${DEVICE_CONNECT_SOURCE_REF}#subdirectory=packages/device-connect-edge
+          device-connect-agent-tools @ git+https://github.com/${DEVICE_CONNECT_REPO}.git@${DEVICE_CONNECT_SOURCE_REF}#subdirectory=packages/device-connect-agent-tools
+          EOF
+          echo "UV_OVERRIDE=${GITHUB_WORKSPACE}/dc-source-override.txt" >> "$GITHUB_ENV"
+          echo "Pinned device-connect packages to ${DEVICE_CONNECT_REPO}@${DEVICE_CONNECT_SOURCE_REF}"
+
       - name: Install dependencies
         env:
           UV_TORCH_BACKEND: cpu

README.md

@@ -105,6 +105,7 @@ extras you need:
 | `groot-service` | pyzmq, msgpack | NVIDIA GR00T inference client |
 | `mesh` | eclipse-zenoh, json5 | Peer-to-peer robot mesh |
 | `mesh-iot` | awsiotsdk, awscrt, boto3 | AWS IoT Core mesh transport for fleets |
+| `device-connect` | device-connect-edge, device-connect-agent-tools | Device-aware networking — discovery, RPC, events, safety (falls back to the built-in mesh if absent) |
 | `benchmark-libero` | libero | LIBERO benchmark evaluation |
 | `all` | everything above | Kitchen sink |
 

pyproject.toml

@@ -89,12 +89,20 @@ mesh-iot = [
     "awscrt>=0.20.0,<1.0.0",
     "boto3>=1.34.0,<2.0.0",
 ]
+# Device Connect — device-aware networking layer (discovery, RPC, events,
+# safety). The primary transport in server mode; when this extra is not
+# installed, robot_mesh() falls back to the built-in Zenoh mesh.
+device-connect = [
+    "device-connect-edge>=0.2.0",
+    "device-connect-agent-tools>=0.1.0",
+]
 all = [
     "strands-robots[groot-service]",
     "strands-robots[lerobot]",
     "strands-robots[sim-mujoco]",
     "strands-robots[mesh]",
     "strands-robots[mesh-iot]",
+    "strands-robots[device-connect]",
 ]
 dev = [
     "pytest>=6.0,<9.0.0",

strands_robots/__init__.py

@@ -30,6 +30,13 @@
 # the lazy attributes below (the runtime __getattr__ resolves them to Any
 # from the static analyzer's perspective). PEP 562.
 if TYPE_CHECKING:
+    from strands_robots.device_connect import (
+        ReachyMiniDriver,
+        RobotDeviceDriver,
+        SimulationDeviceDriver,
+        init_device_connect,
+        init_device_connect_sync,
+    )
     from strands_robots.policies.groot import Gr00tPolicy
     from strands_robots.registry import list_robots
     from strands_robots.robot import Robot
@@ -48,6 +55,7 @@
     from strands_robots.tools.lerobot_camera import lerobot_camera
     from strands_robots.tools.lerobot_teleoperate import lerobot_teleoperate
     from strands_robots.tools.pose_tool import pose_tool
+    from strands_robots.tools.robot_mesh import robot_mesh
     from strands_robots.tools.serial_tool import serial_tool
 
 # ------------------------------------------------------------------
@@ -81,6 +89,14 @@
     "lerobot_teleoperate": ("strands_robots.tools.lerobot_teleoperate", "lerobot_teleoperate"),
     "pose_tool": ("strands_robots.tools.pose_tool", "pose_tool"),
     "serial_tool": ("strands_robots.tools.serial_tool", "serial_tool"),
+    # Robot mesh coordination tool (Device Connect dispatch + mesh fallback)
+    "robot_mesh": ("strands_robots.tools.robot_mesh", "robot_mesh"),
+    # Device Connect integration — wraps robots as Device Connect devices
+    "init_device_connect": ("strands_robots.device_connect", "init_device_connect"),
+    "init_device_connect_sync": ("strands_robots.device_connect", "init_device_connect_sync"),
+    "RobotDeviceDriver": ("strands_robots.device_connect", "RobotDeviceDriver"),
+    "SimulationDeviceDriver": ("strands_robots.device_connect", "SimulationDeviceDriver"),
+    "ReachyMiniDriver": ("strands_robots.device_connect", "ReachyMiniDriver"),
 }
 
 __all__ = [
@@ -106,6 +122,12 @@
     "lerobot_calibrate",
     "serial_tool",
     "pose_tool",
+    "robot_mesh",
+    "init_device_connect",
+    "init_device_connect_sync",
+    "RobotDeviceDriver",
+    "SimulationDeviceDriver",
+    "ReachyMiniDriver",
 ]