menlo-sdk

Python SDK for Menlo robots. Supports Asimov 1.

Requirements

• Python 3.12 or newer.
• Optional, only for the calls that use them: Pillow for Frame.to_jpeg(), NumPy for Frame.to_numpy(), OpenCV (opencv-python) for Clip.save_mp4().

Installation

pip install menlo-sdk

Usage

Connect with the robot's address:

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

config = ConnectionConfig(udp=UdpConfig(host="192.168.22.32"))

Read the robot's state. This sends nothing:

with Robot(config).connect() as robot:
    print(robot.get_state().mode.name)  # DAMP, STAND or MOVE

Put the robot in STAND: the actuators hold a standing pose, with no balancing. The robot must hang from its gantry hook with both feet on the floor. stand() returns once the robot is in STAND and armed:

with Robot(config).connect() as robot:
    robot.stand()

Put the robot in MOVE: the walking policy balances it in place. balance() returns once the robot reports MOVE:

with Robot(config).connect() as robot:
    robot.balance()

Walk: in MOVE the robot follows the velocity you send, here 0.3 m/s forward for 3 s. A walk needs 2 m of clear floor ahead, and Asimov Manager open at the E-Stop. set_velocity() returns once the 3 s are over and zero velocity is sent. balance() keeps the robot in MOVE at zero velocity, balancing in place:

with Robot(config).connect() as robot:
    robot.set_velocity(vx=0.3, duration=3.0)
    robot.balance()

Put the robot in DAMP: every actuator stops holding its position, so a standing robot falls. Only do this with the robot supported, hanging from its gantry hook or seated on a bench:

with Robot(config).connect() as robot:
    robot.damp()

When the robot cannot do a command now, the command raises NotReadyError and sends nothing:

with Robot(config).connect() as robot:
    try:
        robot.set_velocity(vx=0.3, duration=3.0)
    except NotReadyError as exc:
        print(exc)  # not ready to move: the robot is in STAND; balance() it first (wrong_mode)

Documentation

• Python SDK on Asimov 1: installing the SDK and running the examples on Asimov 1.
• Python SDK guide: the full documentation.
• Safety: what to check before a script moves the robot.
• Examples: demos of the SDK's features.
• Changelog: the changes in each release.

Security

To report a vulnerability, see SECURITY.md.

License

Apache License 2.0. See LICENSE.