Reference

Everything here is importable from menlo.asimov. menlo.__version__ is the distribution version. Units are metres per second, radians per second, radians, degrees Celsius.

None resolves the robot from the environment, else the store.

Attach on "udp", "hybrid" or "livekit"; mode may be left out when the config has one lane. Returns once the first State has arrived and its protocol version matches. Raises ConnectError before touching the network when the config lacks a slot the mode needs. require_state=False returns as soon as the lane is open. persist=True saves the manager URL and credential to the store after success. close() then connect() again to switch lanes.

open(*, timeout=5.0, allow_version_skew=False, require_state=True) does the same over a Transport passed to the constructor.

Walk. Clamped to limits; held at 10 Hz until superseded, until stop(), or until duration seconds pass (then zero is sent). Returns at once; wait=True blocks until the hold has ended and its zero has gone out, or another verb superseded it. ValueError on a non-finite value or a non-positive duration. See Move the Robot.

Zero velocity. Stays in MOVE, still balancing: where a walk should end.

Stiffen into the standing pose and hold it. One-shot. Required on the way out of DAMP: a velocity sent to a DAMPed robot is dropped by the edge. No balance loop — see Safety.

Motors compliant now. One-shot. Overwritten if something is streaming setpoints — see Safety. A software state, not an emergency stop.

Interpolate (minimum jerk) from the current reported pose to positions over duration, clocking trajectory() setpoints from a thread, then hold the target until another verb. Any verb from any thread stops the goto thread before its next setpoint leaves. Refuses to plan from a pose older than 0.5 s. wait=True blocks until every joint is within tolerance rad. See Control Joints Directly.

One setpoint, radians, firmware order — clock these yourself or use goto. ValueError unless len(positions) == info.dof. A kp/kd of 0 isn't "no gain": the firmware substitutes its damping constants, i.e. limp. The edge DAMPs a trajectory about two seconds after the last setpoint.

Blocks until state.mode is mode and returns that State. Raises WaitTimeoutError, StateStaleError or RobotFaultedError. A quiet link raises StateStaleError, not a plain timeout — "never got there" and "stopped talking" are different failures.

Blocks until predicate(state) is true and returns that first State. Same errors as wait_for. stale_after defaults to link_timeout.

Robot is a context manager; __exit__ calls close().

Refusal (IntEnum): UNSPECIFIED, FW_DAMPED, FAULT_DAMPED, GATE, UNSUPPORTED_SOURCE, BAD_LENGTH, EMPTY_TRAJECTORY, NON_FINITE, PARSE, UNKNOWN_COMMAND, UNKNOWN_MODE, SHUTTING_DOWN, NO_CAMERA, NOT_ACTIVE, UNRECOGNIZED. Property retryable.

Joint(name, pos, vel, current, temp) — vel, current and temp are None when the robot did not report them (never a guessed zero). Alert(id, severity, value, threshold, source_id, first_set_us); alert.critical is severity == 0. Battery(voltage_v, current_a, soc_percent, max_cell_temp_c, protection: BatteryProtection) with charging and protecting.

RobotInfo(transport, endpoint, dof, joint_names, protocol_version, limits, capabilities) with joint_index(name) and has(capability).

Limits(vx=0.6, vy=0.6, vyaw=1.5).

Frame(width, height, encoding, data, stride_bytes, key_frame, frame_id, timestamp_ns, sequence) with shape, age_s, to_numpy(), to_jpeg(quality=85). AudioChunk(sample_rate_hz, channels, samples_per_channel, encoding, data, stream_id, timestamp_ns, sequence) with duration_s, to_numpy(). Clip(frames, audio, started_at) with duration_s, fps, save_wav(path), save_frames(dir), save_mp4(path, fps=None), frames_as_numpy(). numpy, Pillow and OpenCV are needed only at the call that uses them, and named in the ImportError.

~/.menlo/robots.toml (MENLO_HOME moves it), 0600 in a 0700 directory.

Environment: MENLO_MANAGER_URL, MENLO_CREDENTIAL, MENLO_ROBOT, MENLO_PERSIST, MENLO_HOME.

UdpTransport(host, *, command_port, state_bind, state_source), LiveKitTransport(url, room, *, token, media_timeout, connect_timeout), HybridTransport(host, *, livekit_url, room, token, command_port, state_bind, ...). All implement Transport; a ConnectionConfig builds the right one for the mode. LiveKitTransport.identity and .room read back what the token claimed.

Caller mistakes are builtins: ValueError (non-finite velocity, limit or duration, wrong trajectory length, a lone kp or kd, a mode the config cannot reach), KeyError (unknown joint name), RuntimeError (open() on an open robot).

Robot is synchronous and thread-safe. Callbacks — on_state, on_alert, on_mode_change, on_refused, on_link_lost — fire on a background thread. Keep them short, and do not call back into the robot from inside one.

menlo.asimov.robots.ASIMOV_1_BIPED_JOINTS is the 25-motor order of the asimov_1_biped firmware profile, used to name joints until the robot reports them itself. menlo.asimov.robots.PROTOCOL_VERSION is the asimov.io version the SDK was built against; connect() compares it with what the robot echoes.