`mebo2_nabot.Robot`

The main class that represents a single Mebo 2.0 or Nabot AI robot toy and it’s functions.

Movement

Methods for moving the robot.

class mebo2_nabot.Robot

arm_down(steps, sleep=0.1)

Lower arm for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.1)

arm_up(steps, sleep=0.1)

Raise arm for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.1)

backward(steps, sleep=0.5)

Move backward for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.5)

claw_close(steps)

Close claw by specified number of steps.

Parameters:: steps (int) – Number of movement steps

claw_led_off(): Turn off the claw LED.

claw_led_on(): Turn on the claw LED.

claw_open(steps)

Open claw by specified number of steps.

Parameters:: steps (int) – Number of movement steps

forward(steps, sleep=0.5)

Move forward for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.5)

get_battery()

Query and return an estimated battery charge percentage

Returns:: Percent estimated battery charge remaining
Return type:: int

get_joint_positions() → dict[Position, int]

Query and return current joint positions.

Returns:: Current positions of all joints
Return type:: dict

left(steps, sleep=0.5)

Move left for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.5)

right(steps, sleep=0.5)

Move right for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.5)

send_joint_values(joint_dict: dict[Command, int])

Send multiple joint/motor commands.

Parameters:: joint_dict (dict) – Dictionary mapping joint/motor names to their command values

set_joint_positions(goal: dict[Position, float], max_loops=15, max_speed=20, stop_threshold=3, min_goal_threshold=5)

Move joints to specified positions with smooth motion control.

Parameters:

goal (dict) – Target joint positions (e.g., {robot.Position.ARM: 60, robot.Position.CLAW: 30})
max_loops (int) – Maximum control loop iterations
max_speed (int) – Maximum movement speed per loop
stop_threshold (int) – Difference threshold to stop motion
min_goal_threshold (int) – Ignore small goal differences

set_speed(speed)

Set default movement speed.

Parameters:: speed (int) – Speed value (0-100)

stop(): Stop all movement.

toggle_claw_led(): Toggle claw LED on and off.

wrist_down(steps, sleep=0.1)

Move wrist down for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.1)

wrist_left(steps, sleep=0.1)

Rotate wrist left for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.1)

wrist_right(steps, sleep=0.1)

Rotate wrist right for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.1)

wrist_up(steps, sleep=0.1)

Move wrist up for specified number of steps.

Parameters:

steps (int) – Number of movement steps
sleep (float, optional) – Time between steps (default 0.1)

class mebo2_nabot.Robot.Command(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Enum of available commands and their strings.

ACEAA = '!ACEAA': Used only for init

ARM_QUERY = 'ARM=?'

ARM_UP = 'G'

BAT = 'BAT=?'

BCQAA = '!BCQAA': Used only for init

CAL_ALL = 'D_'

CAL_ARM = 'DE'

CAL_CLAW = 'Dg'

CAL_WRIST_ROTATE = 'DQ'

CAL_WRIST_UD = 'DI'

CCIAA = '!CCIAA': Used only for init

CLAW_LED_STATE = 'claw_led_state()'

CLAW_POSITION = 'N'

CLAW_QUERY = 'CLAW=?'

EYE_LED_STATE = 'eye_led_state()'

GET_SSID = 'get_ssid()'

INIT_ALL = '!CVVDSAAAAAAAAAAAAAAAAAAAAAAAAYtBQfA4uAAAAAAAAAAQfAoPAcXAAAA': Used only for init

LIGHT_OFF = 'RAAAAAAAac'

LIGHT_ON = 'RAAAAAAAad'

QUERY_EVENT = '*': Exact function unknown

QUERY_REG = '': Exact function unknown

REBOOT_CMD = 'DE'

SAVE_REG = 'REG=FLUSH': Exact function unknown

SET_REG = '': Exact function unknown

VERSION_QUERY = 'VER=?'

VIDEO_FLIP = 'video_flip(0)'

VIDEO_MIRROR = 'video_mirror(0)'

WHEEL_LEFT_FORWARD = 'F'

WHEEL_LEFT_SPEED = 'F'

WHEEL_RIGHT_FORWARD = 'E'

WHEEL_RIGHT_SPEED = 'E'

WRIST_ROTATE_LEFT = 'I'

WRIST_ROTATE_QUERY = 'WRIST_ROTATE=?'

WRIST_UD_QUERY = 'WRIST_UD=?'

WRIST_UD_UP = 'H'

enum mebo2_nabot.Robot.Position(value)

Enum representing joint positions with their associated commands.

Valid values are as follows:

ARM = <Position.ARM: ('ARM_QUERY', 'ARM_UP')>

WRIST_UD = <Position.WRIST_UD: ('WRIST_UD_QUERY', 'WRIST_UD_UP')>

WRIST_ROTATE = <Position.WRIST_ROTATE: ('WRIST_ROTATE_QUERY', 'WRIST_ROTATE_LEFT')>

CLAW = <Position.CLAW: ('CLAW_QUERY', 'CLAW_POSITION')>

The Enum and its members also have the following methods:

property query_command: Return the associated Command enum that queries the position

property control_command: Return the associated Command enum that controls the joint

Video and Audio

Methods for accessing the robot’s camera, microphone, and speaker.

class mebo2_nabot.Robot.Camera

Class for capturing video from the camera.

Uses OpenCV to capture the RTSP video stream from robot.

close(): Close camera connection.

open(): Open camera connection.

read()

Read a frame from camera.

Returns:: Video frame or None if capture fails
Return type:: numpy.ndarray

class mebo2_nabot.Robot.Microphone(rate, buffer_size=4000)

Class for handling audio input from the microphone.

Uses ffmpeg to capture the RTSP audio stream.

Parameters:

rate (int) – Audio sample rate
channels (int) – Number of audio channels
buffer_size (int) – Size of audio buffers to read in bytes (default 4000)

close(): Close microphone stream.

open(): Open microphone stream.

read()

Generator that yields audio buffers from microphone.

Yields:: numpy.ndarray – Buffers of audio data

class mebo2_nabot.Robot.Speaker(**kwargs)

Class for handling audio output to the robot’s speaker.

Uses ffmpeg to stream audio to the robot over UDP.

Optional args:: rate (int): Audio sample rate channels (int): Number of audio channels input_format (str): Audio input format channel_layout (str): Audio channel layout

close(): Stop ffmpeg and close audio stream.

open(): Start ffmpeg and open audio stream for writing.

send_array(array, buffer_size=128)

Stream audio data from numpy array to robot’s speaker. Requires audio format information passed to instance of class.

Parameters:

array (numpy.ndarray) – Array to play
buffer_size (int) – Size of buffers to send in bytes (default is 128)

Raises:

ValueError – If required parameters are missing

send_file(file)

Stream an audio file to the robot’s speaker. Audio format can usually be detected by ffmpeg.

Parameters:: file (str) – Path of audio file

write(data)

Write numpy data to open stream. Requires audio format information passed to instance of class.

Parameters:: data (bytes) – Audio data to write
Raises:: ValueError – If required parameters are missing