anvil

anvil is the Python SDK for an Anvil workcell: the robots, the cameras and the computer that controls them. A script built on it describes the workcell, brings the arms up on real drives or in the sim, runs the control loop with the controller it needs, and records what happened.

• Quickstart: bring up an arm in the sim and move it, start to finish.
• Run on real arms: check the bench, bring the drives up, and park the arms before they go off.
• Record episodes and export a dataset and replay an episode.
• Collision stop and speed limits: what the two safeguards between a controller and the drives do, and what they do not catch.
• Reference: every module, class and call, generated from the package itself.

The same pages, as Markdown for an agent, are listed in llms.txt at the root of this site.