menlo-sdk

Python SDK for Menlo robots: Asimov 1.

You drive the robot with one Robot class and the robot's own verbs: stand, set_velocity, stop, damp, goto and trajectory.

Installation

pip install menlo-sdk
# or, with uv
uv add menlo-sdk

Quickstart

Stand the robot up, walk forward for 3 s, and stop. The robot must be on its feet, hanging from its gantry hook, with 2 m of clear floor ahead.

from menlo.asimov import ConnectionConfig, Mode, Robot, UdpConfig

config = ConnectionConfig(udp=UdpConfig(host="192.168.22.32"))  # the robot's address

with Robot(config).connect("udp") as robot:
    if robot.state.mode is Mode.DAMP:
        robot.wait_ready("stand")  # fresh state, no fault, battery and actuators ok
        robot.stand()
        robot.wait_for(Mode.STAND)
    robot.wait_ready("move")  # armed: STAND held upright for 0.5 s
    robot.set_velocity(vx=0.3, duration=3.0, wait=True)
    robot.stop()  # zero velocity: the robot stays in MOVE and balances in place

To keep the address out of the code, set MENLO_UDP_HOST=192.168.22.32 and use Robot().connect().

The udp connection mode needs two Asimov Edge parameters, set in Asimov Manager: udp-control on, and udp-state-host set to your computer's address.

Examples

The examples are short scripts, one purpose each. Settings are constants at the top of each file. Every script that moves the robot checks it first, with require_ready() from check.py.

git clone https://github.com/menloresearch/menlo-sdk
cd menlo-sdk
export MENLO_UDP_HOST=192.168.22.32   # or save the robot with `menlo setup`
python examples/check.py              # is the robot ready? sends nothing
python examples/stand.py              # DAMP to STAND, then wait until armed
python examples/walk.py               # walk forward for 3 s, then stop
python examples/damp.py               # asks first; the robot must be supported

• check.py: readiness to stand, walk or run a trajectory.
• connect.py: the three connection modes side by side.
• read_state.py: a tour of the robot's state.
• stand.py, walk.py, damp.py: one verb each.
• keyboard.py: drive from the keyboard in short steps.
• move_joints.py: bend an elbow with goto().
• camera_and_audio.py: a photo, a clip and a tone.
• record_and_replay.py: record state to a file and read it back.
• livekit_raw/: the robot's LiveKit room without the SDK.
• apps/: follow a ball, and tools for an agent.

The examples page walks through each one.

Safety

Read the safety page before you run a script on a robot.

• Nothing in the SDK is an emergency stop. Use the E-Stop in Asimov Manager, or cut power at the battery unit.
• Call stand() only from DAMP. End a walk with stop(): the robot stays in MOVE and keeps balancing.
• Keep the robot supported, hanging from its gantry hook or seated on a bench, for damp() and for joint control (goto, trajectory).
• The firmware caps velocity at 0.4 m/s forward and sideways and 0.8 rad/s turning.
• robot.preflight(action) reports what stands in the way of a stand, a walk or a trajectory, and sends nothing.

Connection modes

connect(mode) selects how commands, state and media reach the robot. The API is the same in every mode.

The SDK credential comes from the Developer page of Asimov Manager. connect.py shows each mode.

Command line

The menlo command saves robots, shows readiness and runs the basic verbs. Robot() and the examples use the saved robot when no MENLO_* variable says otherwise.

menlo setup                          # save a robot: name, connection mode, live checks
menlo status --watch                 # READY, NOT READY or FAULTED; sends nothing
menlo stand                          # DAMP to STAND, then wait until armed; asks first
menlo walk --vx 0.3 --duration 3     # walk, then stop(); asks first
menlo stop                           # zero velocity, only in MOVE
menlo damp                           # every actuator limp; asks first

Every command and flag is on the command line page.

Documentation

• Python SDK on Asimov 1: install, run the examples, operate from the command line.
• Python SDK guide: connection modes, moving, joints, state, media, recording, safety and reference.
• docs/REFERENCE.md: every option, the protocol and the errors.
• docs/SKILL.md: a brief for agents writing scripts against this SDK.
• CHANGELOG.md

Requirements

• Python 3.12 or newer.
• An Asimov 1 robot. For hybrid and livekit, an SDK credential from Asimov Manager.
• Optional, only for the calls that use them: Pillow for Frame.to_jpeg(), numpy for Frame.to_numpy(), opencv-python for Clip.save_mp4().

Contributing

Issues and pull requests are welcome at https://github.com/menloresearch/menlo-sdk. CONTRIBUTING.md describes the development setup and the checks a change must pass.

Security

Report a vulnerability privately to security@menlo.ai, not in a public issue. See SECURITY.md.

License

MIT. See LICENSE.