Quickstart

Install

uv add --prerelease allow "menlo-sdk[livekit]"     # or: pip install --pre "menlo-sdk[livekit]"

Python 3.12 or newer. Releases are pre-releases for now, so the resolver needs to be told to accept one. The core pulls in protobuf and asimov-protocol; the [livekit] extra adds the camera, microphone and speaker lane. Without it the SDK drives a robot over UDP only.

Get a Credential and Log In

On the robot, mint an SDK credential: the manager's SDK page, or

asimovctl sdk-token create --name laptop --role control

A control credential may drive and talk; observe may only watch. Then, on your machine:

menlo login http://<robot-address> --credential <credential>

login asks the robot's manager for a LiveKit token exactly as a script would, and saves the manager URL and credential to ~/.menlo/robots.toml only when that works. Nothing prints the credential back. menlo robots lists what is saved; menlo use <name> picks the default.

Connect and Read

from menlo.asimov import Robot

with Robot().connect() as robot:      # the robot you logged in to
    print(robot.info)                  # transport, joints, capabilities
    s = robot.state
    print(s.mode.name, s.upright, f"{s.age_s:.3f}s old")
    print(s.joint("L_Knee").pos, "rad")

connect returns once the robot has reported in and its protocol version matches. Otherwise you get a ConnectError that says what to check. Robot() with no argument reads MENLO_MANAGER_URL and MENLO_CREDENTIAL from the environment first, then the store.

Stand, Walk, Rest

from menlo.asimov import Robot, Mode

with Robot().connect() as robot:
    if robot.state.mode is Mode.DAMP:
        robot.stand()
        robot.wait_for(Mode.STAND, timeout=15.0)   # the FIRMWARE reports standing

    robot.set_velocity(vx=0.25, duration=4.0, wait=True)   # walks 4 s, sends the zero, returns
    robot.wait_for(Mode.MOVE, timeout=5.0)

    # Ends in MOVE at zero velocity, still balancing. That's where a walk should end.
    print(robot.state.mode.name, robot.state.upright)   # MOVE True

Waits read the robot's own report and raise when the answer can't come: RobotFaultedError if it fault-DAMPed, StateStaleError if it went quiet, WaitTimeoutError otherwise.

Stop

robot.stop()    # zero velocity — the robot keeps its feet
robot.damp()    # motors compliant now — a standing robot folds. The emergency verb.

Leaving the with block calls close(): sends a zero if one is held, drops the link, never damps. A script that ends or crashes leaves the robot on its feet.