def main():
with pycozmo.connect() as cli:
robot = Robot(cli)
gesture_detector = TrackObject()
# Loop until program terminates.
cliff_counter = 0
while True:
if cliff_counter > 6:
break
gesture = None
# Request gesture to navigate cliff.
if robot.cliff_detected:
cliff_counter += 1
while gesture not in ['terminate', 'left', 'right']:
gesture = gesture_detector.detect_gesture()
# Request gesture to navigate obstacle.
elif robot.object_detected:
while gesture not in [
'terminate', 'left', 'right', 'in', 'out'
]:
gesture = gesture_detector.detect_gesture()
# Perform robot action based on gesture.
if gesture == 'terminate':
gesture_detector.teardown()
break
elif gesture == 'left':
robot.on_gesture_left()
elif gesture == 'right':
robot.on_gesture_right()
elif gesture == 'in':
robot.on_gesture_in()
elif gesture == 'out':
robot.on_gesture_out()
# Perform default behavior.
else:
# No cliff or obstacle detected.
robot.default_behavior()
print("Mission complete!")
def main():
# Parse command-line.
args = parse_args() # noqa
try:
with pycozmo.connect(log_level="DEBUG" if args.verbose else "INFO",
protocol_log_level="INFO",
robot_log_level="INFO") as cli:
brain = pycozmo.brain.Brain(cli)
brain.start()
while True:
try:
time.sleep(1.0)
except KeyboardInterrupt:
break
brain.stop()
except Exception as e:
print("ERROR: {}".format(e))
sys.exit(1)
def main():
with pycozmo.connect() as cli:
# Setup camera
cli.enable_camera(enable=True, color=True)
camera = CameraSensor(cli)
#cli.add_handler(pycozmo.event.EvtNewRawCameraImage, camera.on_camera_image)
# Setup Expressions
# if load_anims breaks, run 'pycozmo_resources.py download'
cli.load_anims()
emote = Expressions(cli)
# Setup controller
controller = CozmoController(cli,camera)
cli.set_head_angle(angle = 0.6)
# Drive off charger (call twice)
# Get to charger edge, override cliff detector
controller.drive_off_charger()
controller.drive_off_charger()
# Check for target
if(not camera.find_target()):
# If no target, make a sad face and quit
emote.act_sad()
print("no target found")
#break
# Center the target
controller.center_target()
# Be happy at target once centered
emote.act_happy()
# Drive to the target while keeping it centered
if(controller.drive_to_target()):
# If made it to the target...
emote.act_happy()
# Nudge/Nuzzle the person
controller.nuzzle_target()
else:
# Else be sad and quit
emote.act_sad()
def main():
global safe_file
global verbose
# Parse command-line.
args = parse_args()
safe_file = args.safe_file
verbose = args.verbose
# Verify .safe file.
verify_safe(safe_file, args.signature)
# Update robot.
try:
with pycozmo.connect(protocol_log_level="INFO", robot_log_level="DEBUG", auto_initialize=False) as cli:
update(cli)
except Exception as e:
print("ERROR: {}".format(e))
sys.exit(3)
#!/usr/bin/env python
import pycozmo
with pycozmo.connect() as cli:
# Set volume to ~75%.
cli.set_volume(50000)
# A 22 kHz, 16-bit, mono file is required.
cli.play_audio("hello.wav")
cli.wait_for(pycozmo.event.EvtAudioCompleted)
#!/usr/bin/env python
from threading import Event
import pycozmo
e = Event()
def on_nv_storage_op_result(cli: pycozmo.client.Client, pkt: pycozmo.protocol_encoder.NvStorageOpResult):
print(pkt.result)
print(pkt.data)
if pkt.result != pycozmo.protocol_encoder.NvResult.NV_MORE:
e.set()
with pycozmo.connect(enable_animations=False, log_level="DEBUG") as cli:
cli.add_handler(pycozmo.protocol_encoder.NvStorageOpResult, on_nv_storage_op_result)
pkt = pycozmo.protocol_encoder.NvStorageOp(
tag=pycozmo.protocol_encoder.NvEntryTag.NVEntry_CameraCalib,
length=1,
op=pycozmo.protocol_encoder.NvOperation.NVOP_READ)
cli.conn.send(pkt)
e.wait(timeout=20.0)
#!/usr/bin/env python
import time
from PIL import Image
import numpy as np
import pycozmo
with pycozmo.connect(enable_procedural_face=False) as cli:
# Raise head.
angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians -
pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
cli.set_head_angle(angle)
time.sleep(1)
# List of face expressions.
expressions = [
pycozmo.expressions.Anger(),
pycozmo.expressions.Sadness(),
pycozmo.expressions.Happiness(),
pycozmo.expressions.Surprise(),
pycozmo.expressions.Disgust(),
pycozmo.expressions.Fear(),
pycozmo.expressions.Pleading(),
pycozmo.expressions.Vulnerability(),
pycozmo.expressions.Despair(),
pycozmo.expressions.Guilt(),
pycozmo.expressions.Disappointment(),
pycozmo.expressions.Embarrassment(),
#!/usr/bin/env python
import time
import pycozmo
def on_robot_state(cli, pkt: pycozmo.protocol_encoder.RobotState):
if pkt.pose_angle_rad < -0.4:
state = "LS"
elif pkt.pose_angle_rad > 0.4:
state = "RS"
elif pkt.pose_pitch_rad < -1.0:
state = "F"
elif pkt.pose_pitch_rad > 1.0:
state = "B"
else:
state = "-"
print("{:6.02f}\t{:6.03f}\t{}".format(pkt.pose_angle_rad,
pkt.pose_pitch_rad, state))
with pycozmo.connect(enable_animations=False) as cli:
cli.add_handler(pycozmo.protocol_encoder.RobotState, on_robot_state)
while True:
time.sleep(0.1)
def on_robot_orientation_change(cli,
orientation: pycozmo.robot.RobotOrientation):
if orientation == pycozmo.robot.RobotOrientation.ON_THREADS:
print("On threads.")
elif orientation == pycozmo.robot.RobotOrientation.ON_BACK:
print("On back.")
elif orientation == pycozmo.robot.RobotOrientation.ON_FACE:
print("On front.")
elif orientation == pycozmo.robot.RobotOrientation.ON_LEFT_SIDE:
print("On left side.")
elif orientation == pycozmo.robot.RobotOrientation.ON_RIGHT_SIDE:
print("On right side.")
# Change the robot log level to DEBUG to see robot debug messages related to events.
with pycozmo.connect(enable_animations=False, robot_log_level="INFO") as cli:
cli.add_handler(pycozmo.protocol_encoder.RobotState,
on_robot_state,
one_shot=True)
cli.add_handler(pycozmo.protocol_encoder.RobotPoked, on_robot_poked)
cli.add_handler(pycozmo.protocol_encoder.FallingStarted,
on_robot_falling_started)
cli.add_handler(pycozmo.protocol_encoder.FallingStopped,
on_robot_falling_stopped)
cli.add_handler(pycozmo.protocol_encoder.ButtonPressed, on_button_pressed)
cli.add_handler(pycozmo.event.EvtRobotPickedUpChange, on_robot_picked_up)
cli.add_handler(pycozmo.event.EvtRobotChargingChange, on_robot_charging)
cli.add_handler(pycozmo.event.EvtCliffDetectedChange, on_cliff_detected)
cli.add_handler(pycozmo.event.EvtRobotWheelsMovingChange,
on_robot_wheels_moving)
