menlo-sdk

Drive an Asimov robot from Python. One Robot, five verbs, waits that read the robot's own report, and camera, microphone and speaker on the same connection.

pip install menlo-sdk              # UDP on the LAN; Python 3.12+
pip install "menlo-sdk[livekit]"   # + video, audio and remote connections

Quickstart

Once per machine, save a robot. The credential is minted on the robot (asimovctl sdk-token create --role control, or its web UI's SDK page):

menlo login http://asimov.local --credential <credential>

Then a script is just:

from menlo.asimov import Mode, Robot

with Robot().connect() as robot:  # the robot you logged in to
    if robot.state.mode is Mode.DAMP:  # wake up: STAND is the only way out of DAMP
        robot.stand()
        robot.wait_for(Mode.STAND, timeout=15)
    robot.set_velocity(vx=0.25, duration=4.0, wait=True)  # walk 0.25 m/s for 4 s, then zero
    robot.wait_for(Mode.MOVE)  # ends in MOVE at zero velocity: standing still
    print(robot.state.joint("L_Knee").pos, robot.state.battery)
    print(robot.camera.photo().to_jpeg()[:4])  # needs [livekit] and Pillow

Robot() finds the robot from MENLO_MANAGER_URL + MENLO_CREDENTIAL, else from ~/.menlo/robots.toml (menlo robots, menlo use <name>, menlo logout <name>). Or say where it is: Robot(ConnectionConfig(udp=UdpConfig("asimov.local"))).connect("udp").

The verbs

Every verb returns a Sent at once. wait_for(Mode.X) and wait_until(pred) block on the robot's report and raise RobotFaultedError, StateStaleError or WaitTimeoutError instead of guessing. robot.state is the latest sample: mode, joints, IMU, alerts, battery.

Three lanes, one API

ManagerConfig(url, credential) asks the robot's manager for the room and a fresh join token on every connect; the SDK never holds a LiveKit secret.

Read before you let go of the robot

• A walk ends in MOVE at zero velocity, not in stand(). STAND is a stiffen with no balance loop; asking a free-standing biped to stiffen after walking tips it over.
• The SDK sends zero when your script stops. close(), the end of a with block, a lost link and a fault-DAMP all release a held velocity. The edge DAMPs on its own about two seconds after the last command it heard.
• damp() folds the robot. It is never implied by anything else.
• Speeds are clamped client-side (0.6 m/s, 1.5 rad/s by default) and the clamp is visible on Sent.clamped.

More

• Reference: every option, the safety model in full, the wire, errors, development.
• SKILL.md: the two-page brief for an agent writing a script against this SDK.
• Examples and the changelog.
• Versions follow PEP 440; pre-releases (0.1.0rc1) install only with pip install --pre. How releases are cut: RELEASING.md.

License

MIT. The wire types come from asimov-protocol (MIT).