martypy.Marty

Python library to communicate with Marty the Robot V1 and V2 by Robotical

Getting started:
1) Import Marty from the martypy library
2) Create a Marty object that connects the way you want
3) Tell your Marty to dance

from martypy import Marty  
my_marty = Marty("wifi","192.168.0.53")  
my_marty.dance()

The tags 1️⃣ and 2️⃣ indicate when the method is available for Marty V1 1️⃣ and Marty V2 2️⃣

Marty Objects

class Marty(object)

__init__

 | __init__(method: str, locator: str = "", extra_client_types: dict = dict(), blocking: Union[bool, None] = None, *args, **kwargs) -> None

Start a connection to Marty 1️⃣ 2️⃣

For example:

• Marty("wifi", "192.168.86.53") to connect to Marty via WiFi on IP Address 192.168.0.53
• Marty("usb", "COM2") on a Windows computer with Marty connected by USB cable to COM2
• Marty("usb", "/dev/tty.SLAB_USBtoUART") on a Mac computer with Marty connected by USB cable to /dev/tty.SLAB_USBtoUART
• Marty("exp", "/dev/ttyAMA0") on a Raspberry Pi computer with Marty connected by expansion cable to /dev/ttyAMA0

Blocking Mode

Each command that makes Marty move (e.g. walk(), dance(), move_joint(), but also hold_position()) comes with two modes - blocking and non-blocking.

Issuing a command in blocking mode will make your program pause until Marty physically stops moving. Only then the next line of your code will be executed.

In non-blocking mode, each movement command simply tells Marty what to do and returns immediately, meaning that your code will continue to execute while Marty is moving.

Every movement command takes an optional blocking argument that can be used to choose the mode for that call. If you plan to use the same mode all or most of the time, it is better to to use the Marty.set_blocking() method or use the blocking constructor argument. The latter defaults to True (blocking) if not provided.

Arguments:

• method - method of connecting to Marty - it may be: "usb", "wifi", "socket" (Marty V1) or "exp" (expansion port used to connect to a Raspberry Pi, etc)
• locator - location to connect to, depending on the method of connection this is the serial port name, network (IP) Address or network name (hostname) of Marty that the computer should use to communicate with Marty. If method is "usb" and there is only a single Marty connected, locator can be left out and the Marty will be found automatically. If multiple Martys are detected, one of them will be chosen arbitrarily and connected to.
• blocking - Default movement command mode for this Marty instance.

  • True (default): blocking mode
  • False: non-blocking mode

Raises:

• MartyConfigException if the parameters are invalid
• MartyConnectException if Marty couldn't be contacted

dance

 | dance(side: str = 'right', move_time: int = 4500, blocking: Optional[bool] = None) -> bool

Boogie, Marty! 1️⃣ 2️⃣

Arguments:

• side - 'left' or 'right', which side to start on
• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

celebrate

 | celebrate(move_time: int = 4000, blocking: Optional[bool] = None) -> bool

Coming soon! Same as wiggle() for now. 1️⃣ 2️⃣

Arguments:

• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

wiggle

 | wiggle(move_time: int = 4000, blocking: Optional[bool] = None) -> bool

Wiggle 2️⃣

Arguments:

• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

circle_dance

 | circle_dance(side: str = 'right', move_time: int = 2500, blocking: Optional[bool] = None) -> bool

Circle Dance 2️⃣

Arguments:

• side - 'left' or 'right', which side to start on
• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

walk

 | walk(num_steps: int = 2, start_foot: str = 'auto', turn: int = 0, step_length: int = 25, move_time: int = 1500, blocking: Optional[bool] = None) -> bool

Make Marty walk 1️⃣ 2️⃣

Arguments:

• num_steps - how many steps to take
• start_foot - 'left', 'right' or 'auto', start walking with this foot Note: 2️⃣ Unless you specify 'auto', all steps are taken with the same foot so it only makes sense to use the start_foot argument with num_steps=1.
• turn - How much to turn (-100 to 100 in degrees), 0 is straight.
• step_length - How far to step (approximately in mm)
• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

get_ready

 | get_ready(blocking: Optional[bool] = None) -> bool

Move Marty to the normal standing position and wiggle eyebrows 1️⃣ 2️⃣ Will also enable motors for Marty v1 1️⃣

Arguments:

• blocking - Blocking mode override; whether to wait for physical movement to finish before returning.

Returns:

True if Marty accepted the request

stand_straight

 | stand_straight(move_time: int = 2000, blocking: Optional[bool] = None) -> bool

Move Marty to the normal standing position 1️⃣ 2️⃣

Arguments:

• move_time - How long (in milliseconds) Marty will take to reach the normal standing position. (Higher number means slower movement.)
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

eyes

 | eyes(pose_or_angle: Union[str, int], move_time: int = 1000, blocking: Optional[bool] = None) -> bool

Move the eyes to a pose or an angle 1️⃣ 2️⃣

Arguments:

• pose_or_angle - 'angry', 'excited', 'normal', 'wide', or 'wiggle' 2️⃣ - alternatively this can be an angle in degrees (which can be a negative number)
• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

kick

 | kick(side: str = 'right', twist: int = 0, move_time: int = 2500, blocking: Optional[bool] = None) -> bool

Kick one of Marty's feet 1️⃣ 2️⃣

Arguments:

• side - 'left' or 'right', which foot to use
• twist - the amount of twisting do do while kicking (in degrees)
• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

arms

 | arms(left_angle: int, right_angle: int, move_time: int, blocking: Optional[bool] = None) -> bool

Move both of Marty's arms to angles you specify 1️⃣ 2️⃣

Arguments:

• left_angle - Angle of the left arm (degrees -100 to 100)
• right_angle - Position of the right arm (degrees -100 to 100)
• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

lean

 | lean(direction: str, amount: Optional[int] = None, move_time: int = 1000, blocking: Optional[bool] = None) -> bool

Lean over in a direction 1️⃣ 2️⃣

Arguments:

• direction - 'left', 'right', 'forward', or 'back'
• amount - How much to lean. The defaults and the exact meaning is different between Marty V1 and V2:

  • 1️⃣ If not specified or None, amount defaults to 50 (no specific unit)Limit is -60/60 in either direction.
  • 2️⃣ If not specified or None, amount defaults to 29 degrees.Limit for foward and back is 45 and limit for left and right is 60
• move_time - How long this movement should last, in milliseconds.
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

sidestep

 | sidestep(side: str, steps: int = 1, step_length: int = 35, move_time: int = 1000, blocking: Optional[bool] = None) -> bool

Take sidesteps 1️⃣ 2️⃣

Arguments:

• side - 'left' or 'right', direction to step in
• steps - number of steps to take
• step_length - how broad the steps are (up to 127)
• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

play_sound

 | play_sound(name_or_freq_start: Union[str,int], freq_end: Optional[int] = None, duration: Optional[int] = None) -> bool

Play a named sound (Marty V2 2️⃣) or make a tone (Marty V1 1️⃣)

Arguments:

• name_or_freq_start - name of the sound, e.g. 'excited' or 'no_way' 2️⃣
• name_or_freq_start - starting frequency, min 20, max 20000,Hz 1️⃣
• freq_end - ending frequency, min 20, max 20000, Hz 1️⃣
• duration - milliseconds, maximum 5000 1️⃣

Returns:

True if Marty accepted the request

get_accelerometer

 | get_accelerometer(axis: Optional[str] = None) -> float

Get the latest value from the Marty's accelerometer 1️⃣ 2️⃣

Arguments:

• axis - (optional) 'x', 'y' or 'z' OR no parameter at all (see returns below)

Returns:

• The acceleration value from the axis (if axis specified)
• A tuple containing x, y and z values (if no axis) 2️⃣ Note that the returned value will be 0 if no value is available

Raises:

MartyCommandException if the axis is unknown

is_moving

 | is_moving() -> bool

Check if Marty is moving 2️⃣

Arguments:

none

Returns:

True if Marty is moving

stop

 | stop(stop_type: Optional[str] = None) -> bool

Stop Marty's movement 1️⃣ 2️⃣

You can also control what way to "stop" you want with the parameter stop_type. For instance:

• 'clear queue' to finish the current movement before stopping (clear any queued movements)
• 'clear and stop' stop immediately (and clear queues)
• 'clear and disable' 1️⃣ stop and disable the robot
• 'clear and zero' stop and move back to get_ready pose
• 'pause' pause motion
• 'pause and disable' 1️⃣ pause motion and disable the robot

Arguments:

• stop_type - the way to stop - see the options above

Raises:

MartyCommandException if the stop_type is unknown

resume

 | resume() -> bool

Resume Marty's movement after a pause 2️⃣

Returns:

True if Marty accepted the request

hold_position

 | hold_position(hold_time: int, blocking: Optional[bool] = None) -> bool

Hold Marty at its current position 2️⃣

Arguments:

hold_time, time to hold position in milli-seconds

• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking(). Holding position counts as movement because Marty is using its motors to actively resist any attempts to move its joints.

Returns:

True if Marty accepted the request

is_paused

 | is_paused() -> bool

Check if Marty is paused 2️⃣

Returns:

True if Marty is paused

is_blocking

 | is_blocking() -> bool

Check the default movement command behaviour of this Marty. 1️⃣ 2️⃣

Returns:

True if movement commands block by default

set_blocking

 | set_blocking(blocking: bool)

Change whether movement commands default to blocking or non-blocking behaviour for this Marty. 1️⃣ 2️⃣

The blocking behaviour can also be specified on a per-command basis using the blocking= argument which takes precedence over Marty's overall setting.

Arguments:

• blocking - whether or not to block by default

move_joint

 | move_joint(joint_name_or_num: Union[int, str], position: int, move_time: int, blocking: Optional[bool] = None) -> bool

Move a specific joint to a position 1️⃣ 2️⃣

Arguments:

• joint_name_or_num - joint to move, see the Marty.JOINT_IDS dictionary (can be name or number)
• position - angle in degrees
• move_time - how long this movement should last, in milliseconds
• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

Returns:

True if Marty accepted the request

Raises:

MartyCommandException if the joint_name_or_num is unknown

get_joint_position

 | get_joint_position(joint_name_or_num: Union[int, str]) -> float

Get the position (angle in degrees) of a joint 2️⃣

Arguments:

• joint_name_or_num - see the Marty.JOINT_IDS dictionary (can be name or number)

Returns:

Angle of the joint in degrees

Raises:

MartyCommandException if the joint_name_or_num is unknown

get_joint_current

 | get_joint_current(joint_name_or_num: Union[int, str]) -> float

Get the current (in milli-Amps) of a joint 1️⃣ 2️⃣ This can be useful in detecting when the joint is working hard and is related to the force which the joint's motor is exerting to stay where it is

Arguments:

• joint_name_or_num - see the Marty.JOINT_IDS dictionary (can be name or number)

Returns:

the current of the joint in milli-Amps (this will be 0 if the joint current is unknown)

Raises:

MartyCommandException if the joint_name_or_num is unknown

get_joint_status

 | get_joint_status(joint_name_or_num: Union[int, str]) -> int

Get information about a joint 2️⃣ This can be helpful to find out if the joint is working correctly and if it is moving at the moment, etc

Arguments:

• joint_name_or_num - see the Marty.JOINT_IDS dictionary (can be name or number)

Returns:

a code number which is the sum of codes in the Marty.JOINT_STATUS dictionary will be 0 if the joint status is unknown

Raises:

MartyCommandException if the joint_name_or_num is unknown

get_distance_sensor

 | get_distance_sensor() -> float

Get the latest value from the distance sensor 1️⃣ 2️⃣

Returns:

The distance sensor reading (will return 0 if no distance sensor is found)

get_battery_remaining

 | get_battery_remaining() -> float

Get the battery remaining percentage 2️⃣

Returns:

The battery remaining capacity in percent

save_calibration

 | save_calibration() -> bool

Set the current motor positions as the zero positions 1️⃣ 2️⃣

BE CAREFUL, this can cause unexpected movement or self-interference

clear_calibration

 | clear_calibration() -> bool

Mark the current calibration as invalid 1️⃣ 2️⃣

This has no immediate physical effect. Marty will still remember the last calibration but will report that it needs to be calibrated again. (You may notice that a "Calibrate" button appears in the app for example.)

is_calibrated

 | is_calibrated() -> bool

Check if Marty is calibrated 2️⃣

get_robot_status

 | get_robot_status() -> Dict

Get status of Marty the Robot 2️⃣

Arguments:

none

Returns:

Dictionary containing: "workQCount" number of work items (movements) that are queued up

• "isMoving" - True if Marty is moving
• "isPaused" - True if Marty is paused
• "isFwUpdating" - True if Marty is doing an update

get_joints

 | get_joints() -> Dict

Get information on all of Marty's joints 2️⃣

Arguments:

none

Returns:

Dictionary containing dictionaries (one for each joint) each of which contain:

• "IDNo" - the joint identification number (see Marty.JOINT_IDS)
• "name" - the name of the joint
• "pos" - the angle of the joint
• "current" - the joint current (in milli-Amps)
• "enabled" - True if the servo is enabled
• "commsOK" - True if the servo is communicating ok
• "flags" - joint status flags (see Marty.JOINT_STATUS)

get_power_status

 | get_power_status() -> Dict

Get information on Marty's battery and power supply 2️⃣

Arguments:

none

Returns:

Dictionary containing: "remCapPC" remaining battery capacity in percent

• "tempDegC" - battery temperature in degrees C
• "remCapMAH" - remaining battery capacity in milli-Amp-Hours
• "fullCapMAH" - capacity of the battery when full in milli-Amp-Hours
• "currentMA" - current the battery is supplying (or being charged with) milli-Amps
• "power5VOnTimeSecs" - number of seconds the power to joints and add-ons has been on
• "isOnUSBPower" - True if Marty is running on power from the USB connector
• "is5VOn" - True if power to the joints and add-ons is turned on

get_add_ons_status

 | get_add_ons_status() -> Dict

Get latest information for all add-ons 2️⃣

Arguments:

none

Returns:

Dictionary containing dictionaries (one for each add-on) each of which contain:

• "IDNo" - the add-on identification number
• "name" - the name of the add-on
• "type" - the type of the add-on (see Marty.ADD_ON_TYPE_NAMES but it may not be in this list)
• "whoAmITypeCode" - a code which can be used for further add-on identification
• "valid" - True if the data is valid
• "data" - 10 bytes of data from the add-on - the format of this data depends on the type of add-on

get_add_on_status

 | get_add_on_status(add_on_name_or_id: Union[int, str]) -> Dict

Get latest information for a single add-on 2️⃣

Arguments:

• add_on_name_or_id - either the name or the id (number) of an add-on

Returns:

Dictionary containing:

• "IDNo" - the add-on identification number
• "valid" - True if the data is valid
• "data" - 10 bytes of data from the add-on - the format of this data depends on the type of add-on

get_system_info

 | get_system_info() -> Dict

Get information about Marty 2️⃣

Arguments:

none

Returns:

Dictionary containing:

• "HardwareVersion" - string containing the version of Marty hardware "1.0" for Marty V1 "2.0" for Marty V2 other values for later versions of Marty
• "SystemName" - the name of the physical hardware in Marty - this will be RicFirmwareESP32 for Marty V2 and MartyV1 for Marty V1
• "SystemVersion" - a string in semantic versioning format with the version of Marty firmware (e.g. "1.2.3")
• "SerialNo" - serial number of this Marty
• "MAC" - the base MAC address of the Marty

set_marty_name

 | set_marty_name(name: str) -> bool

Set Marty's name 2️⃣

Arguments:

name to call Marty

Returns:

True if successful in setting the name

get_marty_name

 | get_marty_name() -> str

Get Marty's name 2️⃣

Arguments:

none

Returns:

the name given to Marty

is_marty_name_set

 | is_marty_name_set() -> bool

Check if Marty's name is set 2️⃣

Arguments:

none

Returns:

True if Marty's name is set

get_hw_elems_list

 | get_hw_elems_list() -> List

Get a list of all of the hardware elements on Marty 2️⃣

Arguments:

none

Returns:

List containing a dictionary for each hardware element, each element is in the form:

• "name" - name of the hardware element
• "type" - type of element, see Marty.HW_ELEM_TYPES, other types may appear as add-ons
• "busName" - name of the bus the element is connected to
• "addr" - address of the element if it is connected to a bus
• "addrValid" - 1 if the address is valid, else 0
• "IDNo" - identification number of the element
• "whoAmI" - string from the hardware which may contain additional identification
• "whoAmITypeCode" - string indicating the type of hardware
• "SN" - serial number of the hardware element
• "versionStr" - version string of hardware element in semantic versioning (semver) format
• "commsOK" - 1 if the element is communicating ok, 0 if not

send_ric_rest_cmd

 | send_ric_rest_cmd(ricRestCmd: str) -> None

Send a command in RIC REST format to Marty 2️⃣

This is a special purpose command which you can use to do advanced control of Marty

Arguments:

• ricRestCmd - string containing the command to send to Marty

Returns:

None

send_ric_rest_cmd_sync

 | send_ric_rest_cmd_sync(ricRestCmd: str) -> Dict

Send a command in RIC REST format to Marty and wait for reply 2️⃣

This is a special purpose command which you can use to do advanced control of Marty

Arguments:

• ricRestCmd - string containing the command to send to Marty

Returns:

Dictionary containing the response received from Marty

get_motor_current

 | get_motor_current(motor_id: int) -> float

Get current flowing through a joint motor 1️⃣ 2️⃣

Arguments:

motor_id, integer >= 0 (non-negative) selects which motor to query

Returns:

Instantaneous current sense reading from motor motor_id

Legacy MartyV1 commands

enable_motors

 | enable_motors(enable: bool = True, clear_queue: bool = True) -> bool

Toggle power to motors 1️⃣

Arguments:

• enable - True/False toggle
• clear_queue - Default True, prevents unfinished but 'muted' motions from jumping as soon as motors are enabled

enable_safeties

 | enable_safeties(enable: bool = True) -> bool

Tell the board to turn on 'normal' safeties 1️⃣

fall_protection

 | fall_protection(enable: bool = True) -> bool

Toggle fall protections 1️⃣

Arguments:

• enable - True/False toggle

motor_protection

 | motor_protection(enable: bool = True) -> bool

Toggle motor current protections 1️⃣

Arguments:

• enable - True/False toggle

battery_protection

 | battery_protection(enable: bool = True) -> bool

Toggle low battery protections 1️⃣

Arguments:

• enable - True/False toggle

buzz_prevention

 | buzz_prevention(enable: bool = True) -> bool

Toggle motor buzz prevention 1️⃣

Arguments:

• enable - True/False toggle

lifelike_behaviour

 | lifelike_behaviour(enable: bool = True) -> bool

Tell the robot whether it can or can't move now and then in a lifelike way when idle. 1️⃣

Arguments:

• enable - True/False toggle

ros_command

 | ros_command(*byte_array: int) -> bool

Low level proxied access to the ROS Serial API between the modem and main controller 1️⃣

keyframe

 | keyframe(time: float, num_of_msgs: int, msgs) -> List[bytes]

Takes in information about movements and generates keyframes returns a list of bytes 1️⃣

Arguments:

• time - time (in seconds) taken to complete movement
• num_of_msgs - number of commands sent
• msgs - commands sent in the following format [(ID CMD), (ID CMD), etc...]

get_chatter

 | get_chatter() -> bytes

Return chatter topic data (variable length) 1️⃣

get_firmware_version

 | get_firmware_version() -> bool

Ask the board to print the firmware version over chatter 1️⃣

ros_serial_formatter

 | ros_serial_formatter(topicID: int, send: bool = False, *message: int) -> List[int]

Formats message into ROS serial format and returns formatted message as a list 1️⃣

Calls ros_command with the processed message if send is True. More information about the ROS serial format can be found here: http://wiki.ros.org/rosserial/Overview/Protocol

pinmode_gpio

 | pinmode_gpio(gpio: int, mode: str) -> bool

Configure a GPIO pin 1️⃣

Arguments:

• gpio - pin number between 0 and 7
• mode - choose from: 'digital in','analog in' or 'digital out'

write_gpio

 | write_gpio(gpio: int, value: int) -> bool

Write a value to a GPIO port 1️⃣

digitalread_gpio

 | digitalread_gpio(gpio: int) -> bool

Read from GPIO 1️⃣

Arguments:

GPIO pin number, >= 0 (non-negative)

Returns:

Returns High/Low state of a GPIO pin

set_parameter

 | set_parameter(*byte_array: int) -> bool

Set board parameters 1️⃣

Arguments:

• byte_array - a list in the following format [paramID, params]

i2c_write

 | i2c_write(*byte_array: int) -> bool

Write a bytestream to the i2c port. 1️⃣

The first byte should be the address, following from that the datagram folows standard i2c spec

i2c_write_to_ric

 | i2c_write_to_ric(address: int, byte_array: bytes) -> bool

Write a formatted bytestream to the i2c port. 1️⃣

The bytestream is formatted in the ROS serial format.

address: the other device's address

i2c_write_to_rick

 | i2c_write_to_rick(address: int, byte_array: bytes) -> bool

Write a formatted bytestream to the i2c port. 1️⃣

The bytestream is formatted in the ROS serial format. address: the other device's address

get_battery_voltage

 | get_battery_voltage() -> float

Get the voltage of the battery 1️⃣

Returns:

The battery voltage reading as a float in Volts

hello

 | hello(blocking: Optional[bool] = None) -> bool

Zero joints and wiggle eyebrows 1️⃣

Arguments:

• blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().

discover

 | discover() -> List[str]

Try and find us some Martys! 1️⃣

Helper commands

You probably won't need to use these directly.

__del__

 | __del__() -> None

Marty is stopping

close

 | close() -> None

Close connection to Marty