Examples

Each file is one short, runnable script, kept in the examples directory of the SDK repository. Every script except connect.py and the livekit_raw/ scripts connects to the saved robot (menlo setup), or to the robot the MENLO_* environment variables describe; set MENLO_ROBOT=NAME to pick another saved robot. The settings a script uses, such as a speed, a duration or a joint name, are constants at the top of the file. Read the docstring at the top of a file before you run it: it says what the robot must be doing. Before a script that moves the robot, work through Before You Run a Script.

pip install menlo-sdk
git clone https://github.com/menloresearch/menlo-sdk.git
cd menlo-sdk
python examples/check.py

Check

Script	What it shows
check.py	`preflight()` for stand, move and trajectory, without sending anything: the check every moving command runs before it sends

Connect

Script	What it shows
connect.py	the `udp`, `hybrid` and `livekit` configs side by side in code; set `MODE` at the top and it prints the endpoint, robot mode, arming, battery and capabilities

State

Script	What it shows
read_state.py	a tour of `robot.get_state()`: mode, arming, faults, battery, the hottest actuators, gravity, alerts, state age and rate, and the mode and alert callbacks

Stand, Balance, Walk, Damp

Script	What it shows
stand.py	`stand()` from DAMP; it returns once the robot is armed, and the script prints the `NotReadyError` or `WaitTimeoutError` otherwise
balance.py	`balance()` from an armed STAND: the robot enters MOVE and balances in place; the script prints the `NotReadyError` or `WaitTimeoutError` otherwise
walk.py	a bounded `set_velocity(duration=3.0)` in MOVE: the SDK holds the velocity, sends zero, and the robot balances in place; reports `sent.clamped`
stream_velocity.py	`set_velocity(hold=False)` from your own 50 Hz loop, one packet per tick, then `balance()`
damp.py	`damp()` on a supported robot, after asking; it returns once the robot reports DAMP

Keyboard

Script	What it shows
keyboard.py	drive from the keyboard with short bounded holds: `w`/`s` walk, `a`/`d` strafe, `q`/`e` turn, space `balance()`, `t` stand from DAMP, `b` damp after asking, `x` quit

Joints

Script	What it shows
move_joints.py	`set_joints()` on one named joint, on a supported robot; exits unless `ROBOT_SUPPORTED = True` is set in the file and refuses unless the robot is in STAND; the robot enters DAMP 2 s after the script exits
wait_until.py	`set_joints(wait=False)`, then `wait_until()` acts the moment the joint passes an angle in the robot's own report; refuses unless the robot is in STAND

Media

Script	What it shows
camera_and_audio.py	a photo, a short clip saved as JPEG frames with its sound as WAV, and a tone on the speaker; `hybrid` or `livekit`
record_audio.py	three seconds of the microphone saved as WAV
play_audio.py	a WAV file played on the robot's speaker, one second at a time

Recording

Script	What it shows
record_and_replay.py	`robot.record()` for three seconds, then reading the file back with `recording.load()`

Without the SDK

The scripts in livekit_raw/ use only the livekit and asimov-protocol packages; see Without the SDK. They read MENLO_CREDENTIAL and the MANAGER_URL set in manager_token.py.

Script	What it shows
livekit_raw/manager_token.py	a join token from Asimov Manager; the other scripts in the folder import it
livekit_raw/read_state.py	`RobotState` from the `state` data track for 5 s
livekit_raw/send_commands.py	the readiness checks by hand, then one STAND `RobotCommand` on the `commands` topic; the robot must hang from its gantry hook
livekit_raw/camera.py	one frame from the video track, saved as PPM
livekit_raw/audio.py	the microphone track, saved as WAV

Quickstart: check, stand, balance, walk and damp, step by step

Command Line: the same verbs without writing a script

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