def initial_settings(robot: cozmo.robot.Robot):
# Set Neutral Face fot Cozmo
robot.play_anim_trigger(cozmo.anim.Triggers.NeutralFace,
in_parallel=True).wait_for_completed()
# check if Cozmo is on charger
charger = robot.is_on_charger
# Set Cozmo volume
robot.set_robot_volume(robot_volume=0.3)
# Activate face expression estimation
robot.enable_facial_expression_estimation()
# Activate stop on cliff
robot.enable_stop_on_cliff(enable=True)
# Volts on battery
battery = robot.battery_voltage
# If Cozmo is on charger, drive off it to start FindFaces behavior
if charger is True:
robot.drive_off_charger_contacts(in_parallel=True).wait_for_completed()
robot.drive_straight(distance_mm(120),
speed_mmps(50),
in_parallel=True)
# Set lift to down position5
robot.move_lift(-3)
# Start "Battery check" animation
robot.say_text("Checking battery level",
in_parallel=True,
use_cozmo_voice=Voice,
duration_scalar=0.85).wait_for_completed()
# Cozmo announce that he is ready to play if battery is higher then 3.6 volts - If less than 3.6 volts, Cozmo as to be placed on charger
if battery > 3.69:
robot.play_anim_trigger(cozmo.anim.Triggers.VC_Alrighty,
in_parallel=True).wait_for_completed()
robot.say_text("My battery is good! I am ready to play!",
in_parallel=True,
play_excited_animation=False,
use_cozmo_voice=Voice,
duration_scalar=0.85).wait_for_completed()
robot.set_head_angle(degrees(30)).wait_for_completed()
else:
robot.play_anim_trigger(
cozmo.anim.Triggers.SparkFailure).wait_for_completed()
robot.play_anim_trigger(cozmo.anim.Triggers.NeedsSevereLowEnergyGetIn,
in_parallel=True).wait_for_completed()
robot.say_text(
"I need to charge my battery. Please, place me on the charger.",
in_parallel=True,
use_cozmo_voice=Voice,
duration_scalar=0.85).wait_for_completed()
def cozmo_face_response(robot: cozmo.robot.Robot):
print("Running cozmo face response")
try:
robot.move_lift(-3)
robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE).wait_for_completed()
robot.enable_facial_expression_estimation(True)
face = None
face = robot.world.wait_for_observed_face(timeout=30)
if face and face.is_visible:
robot.set_all_backpack_lights(cozmo.lights.blue_light)
else:
robot.set_backpack_lights_off()
print(face.expression)
print(face.name)
print(face.face_id)
print(face.expression_score)
# Cozmo responds based on happy facial expression (transitioned from negative tone)
# and a smiley face is displayed on his OLED screen
face_response = f"I see your face with an {face.expression} expression. But I think you look happy!"
robot.say_text(face_response).wait_for_completed()
if face.expression == 'happy':
robot.say_text(f"Yay I am so glad you have a {face.expression} face!").wait_for_completed()
# time.sleep(.1)
image = Image.open("cozmo_smiley_2.jpg")
image = image.resize(cozmo.oled_face.dimensions(), Image.NEAREST)
image = cozmo.oled_face.convert_image_to_screen_data(image)
seconds = 10
for i in range(seconds):
robot.display_oled_face_image(image, 1000.0)
time.sleep(1.0)
except asyncio.TimeoutError:
print("did not find a face")
pass
async def react(robot: cozmo.robot.Robot):
"""
Cozmo will react to the facial expressions of the first face it sees.
Rules:
1. If Cozmo sees a sad face, she will try to cheer you up.
2. If Cozmo sees an angry face, she will run away.
3. If Cozmo sees a happy face, she will celebrate with you.
4. At any point, you can ask Cozmo why she did something. She will stop what
she's doing, explain, and then go back to her alert "watching" state.
"""
robot.enable_facial_expression_estimation(enable=True)
state = "finding face"
face_visible = False
explanation = "I'm just chilling."
any_face = None
def on_press(key):
#print('{0} release'.format(key))
if key == Key.shift_l or key == Key.shift_r:
#listen(robot)
state = "explaining"
while True:
########## INITIAL CHECKS ##########
# check for key input
# later, check for voice input (from computer microphone)
listener = Listener(on_press=on_press)
listener.join()
if not face_visible:
state = "finding face"
########## STATE MACHINE ##########
print(state)
if state is "init":
# explanation = "I'm just getting started."
robot.set_head_angle(
cozmo.robot.MAX_HEAD_ANGLE).wait_for_completed()
robot.move_lift(-3)
if state is "finding face":
# explanation = "I'm trying to find a face."
any_face = None
print("Looking for a face!")
look_around = robot.start_behavior(
cozmo.behavior.BehaviorTypes.FindFaces)
try:
any_face = await (robot.world.wait_for_observed_face(
timeout=30))
except asyncio.TimeoutError:
print("Didn't find anyone :-(")
finally:
# whether we find it or not, we want to stop the behavior
look_around.stop()
if any_face is None:
print("no faces found :(")
face_visible = False
else:
print("FOUND A FACE")
face_visible = True
state = "watching face"
elif state is "watching face":
#
# explanation = "I'm just staying alert."
print("face is ", any_face)
robot.stop_all_motors()
expression = any_face.expression
print("expression is ", expression)
if expression is "sad":
state = "reacting to sad face"
elif expression is "angry":
state = "reacting to angry face"
elif expression is "happy":
state = "reacting to happy face"
else:
state = "finding face"
elif state is "reacting to sad face":
explanation = "You seemed sad, so I'm sad too."
reaction = robot.play_anim_trigger(
cozmo.anim.Triggers.CodeLabDejected)
await (reaction.wait_for_completed())
print("tried to cheer you up")
time.sleep(200)
state = "watching face"
elif state is "reacting to angry face":
explanation = "You seemed angry, so I'm angry too."
reaction = robot.play_anim_trigger(
cozmo.anim.Triggers.CodeLabFrustrated)
await (reaction.wait_for_completed())
print("ran away")
time.sleep(200)
state = "watching face"
elif state is "reacting to happy face":
explanation = "You seemed happy, so I'm celebrating!"
reaction = robot.play_anim_trigger(
cozmo.anim.Triggers.CodeLabPartyTime)
await (reaction.wait_for_completed())
print("did a happy dance")
time.sleep(200)
state = "watching face"
elif state is "explaining":
robot.abort_all_actions()
explain = cozmo.say_text(explanation)
await (explain.wait_for_completed())
state = "watching face"
def follow_faces(robot: cozmo.robot.Robot):
'''The core of the follow_faces program'''
# Move lift down and tilt the head up
robot.move_lift(-3)
robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE).wait_for_completed()
robot.enable_facial_expression_estimation()
face_to_follow = None
checkfeelingsad = 0
checkfeelingangry = 0
checkfeelinghappy = 0
checkfeelingunknown = 0
checkfeelingneutral = 0
checkfeelingsurprised = 0
print("Press CTRL-C to quit")
global sentimental
while True:
turn_action = None
if face_to_follow:
# start turning towards the face
turn_action = robot.turn_towards_face(face_to_follow,in_parallel=True)
# find a visible face, timeout if nothing found after a short while
try:
face_to_follow = robot.world.wait_for_observed_face()#timeout=30)
print(face_to_follow)
if face_to_follow.expression == "unknown":
sentimental = "unknown"
checkfeelingunknown = checkfeelingunknown + 1
if face_to_follow.expression == "happy":
sentimental = "happy"
checkfeelinghappy = checkfeelinghappy + 1
if face_to_follow.expression == "sad":
sentimental = "sad"
checkfeelingsad = checkfeelingsad + 1
if face_to_follow.expression == "surprised":
sentimental = "surprised"
checkfeelingsurprised = checkfeelingsurprised + 1
if face_to_follow.expression == "angry":
sentimental = "angry"
checkfeelingangry = checkfeelingangry + 1
if face_to_follow.expression == "neutral":
sentimental = "neutral"
checkfeelingneutral = checkfeelingneutral + 1
except asyncio.TimeoutError:
print("Didn't find a face - exiting!")
return
if checkfeelingsad >= 3:
print('Are you sad?')
checkfeelingsad = 0
res = requests.get(
'https://icanhazdadjoke.com/',
headers={"Accept": "application/json"}
)
if res.status_code == requests.codes.ok:
a = random.randint(1,2)
if a == 1:
robot.say_text("you know " + str(res.json()['joke']),in_parallel=True,duration_scalar=1.2).wait_for_completed()
else:
robot.say_text("Do you want some Burger?", in_parallel=True, duration_scalar=1.2).wait_for_completed()
print("Cozmo says: " + str(res.json()['joke']))
else:
robot.say_text(str(res.json()['oops!I ran out of jokes']),in_parallel=True).wait_for_completed()
print("Cozmo says: " + 'oops!I ran out of jokes')
continue
elif checkfeelingangry >= 3:
print('Are you ok?')
checkfeelingangry = 0
robot.say_text("Are you ok? Want some lasanga?", in_parallel=True).wait_for_completed()
elif checkfeelinghappy >= 3:
print('You look happy which is good')
checkfeelinghappy = 0
robot.say_text("You look happy which is good", in_parallel=True).wait_for_completed()
elif checkfeelingneutral >= 3:
print('How was your day?')
functionsCozmo.motion_step(robot)
functionsCozmo.motion_step(robot)
checkfeelinghappy = 0
robot.say_text("How was your day?", in_parallel=True).wait_for_completed()
if turn_action:
# Complete the turn action if one was in progress
turn_action.wait_for_completed()
time.sleep(5)
