refactor: address 10 review threads from @awsarron on PR strands-labs#86

1. Rename factory.py → robot.py, robot.py → hardware_robot.py
   Eliminates two 'Robot' classes in different files. The factory
   function now lives where users expect: strands_robots.robot.Robot

2. Default mode='sim' instead of mode='auto'
   Using real hardware should be an explicit decision since it affects
   the physical world. Robot('so100') now always returns simulation.
   Use mode='real' to explicitly opt into hardware control.

3. Fix ThreadPoolExecutor leak in _async_utils.py
   Register atexit.shutdown(wait=False) to clean up the module-level
   executor on interpreter exit.

4. Remove redundant list_robots() wrapper
   Was a 1-line passthrough to registry.list_robots(). Now __init__.py
   points directly to strands_robots.registry.list_robots.

5. Use module names in dataset_recorder docstring
   'robot.py' → 'strands_robots.hardware_robot',
   'simulation.py' → 'strands_robots.simulation'

6. Make camera shape configurable in dataset_recorder
   Added camera_shapes parameter to _build_features() instead of
   hardcoding (3, 480, 640). Default preserved for backward compat.

7. Add mode validation — invalid mode raises ValueError

8. Update __init__.py lazy imports for renamed modules

Tests: 230 passed, 10 skipped, 0 failures
Lint: ruff check + ruff format clean

Author: strands-agent

strands_robots/__init__.py

@@ -37,8 +37,8 @@
 # Maps public name -> (module_path, attribute_name)
 _LAZY_IMPORTS: dict[str, tuple[str, str]] = {
     # Hardware robot
-    "Robot": ("strands_robots.factory", "Robot"),
-    "list_robots": ("strands_robots.factory", "list_robots"),
+    "Robot": ("strands_robots.robot", "Robot"),
+    "list_robots": ("strands_robots.registry", "list_robots"),
     # Policies
     "Gr00tPolicy": ("strands_robots.policies.groot", "Gr00tPolicy"),
     # Simulation (MuJoCo)

strands_robots/_async_utils.py

@@ -1,11 +1,16 @@
 """Async-to-sync helper for resolving coroutines in sync contexts."""
 
 import asyncio
-import concurrent.futures
+import atexit
+from concurrent.futures import ThreadPoolExecutor
 
 # Module-level executor reused across calls to avoid creating threads at high frequency.
 # A single worker is sufficient — we only need to offload one asyncio.run() at a time.
-_EXECUTOR = concurrent.futures.ThreadPoolExecutor(max_workers=1, thread_name_prefix="strands_async")
+_EXECUTOR = ThreadPoolExecutor(max_workers=1, thread_name_prefix="strands_async")
+
+# Ensure the executor is shut down cleanly on interpreter exit to avoid
+# ResourceWarning and orphaned threads.
+atexit.register(_EXECUTOR.shutdown, wait=False)
 
 
 def _resolve_coroutine(coro_or_result):  # type: ignore[no-untyped-def]

strands_robots/dataset_recorder.py

@@ -1,7 +1,7 @@
 """LeRobotDataset recorder bridge for strands-robots.
 
-Wraps LeRobotDataset so that both robot.py (real hardware) and
-simulation.py (MuJoCo) can produce training-ready datasets with
+Wraps LeRobotDataset so that both strands_robots.hardware_robot and
+strands_robots.simulation (MuJoCo) can produce training-ready datasets with
 a single add_frame() call per control step.
 
 Usage:
@@ -180,6 +180,7 @@ def _build_features(
         camera_keys: list[str] | None = None,
         joint_names: list[str] | None = None,
         use_videos: bool = True,
+        camera_shapes: dict[str, tuple[int, int, int]] | None = None,
     ) -> dict[str, Any]:
         """Build LeRobot v3-compatible features dict.
 
@@ -199,13 +200,13 @@ def _build_features(
             for cam_name in camera_keys:
                 key = f"observation.images.{cam_name}"
                 dtype = "video" if use_videos else "image"
+                # Per-camera shape override, default (3, 480, 640) CHW
+                shape = (3, 480, 640)
+                if camera_shapes and cam_name in camera_shapes:
+                    shape = camera_shapes[cam_name]
                 features[key] = {
                     "dtype": dtype,
-                    "shape": (
-                        3,
-                        480,
-                        640,
-                    ),  # CHW default, actual shape set on first frame
+                    "shape": shape,
                     "names": ["channels", "height", "width"],
                 }