def dock_with_cube(robot: cozmo.robot.Robot):
cube1 = robot.world.get_light_cube(LightCube1Id)
robot.set_head_angle(degrees(44.0)).wait_for_completed()
robot.say_text("All right kids. Who's thirsty").wait_for_completed()
robot.set_head_angle(degrees(0.0)).wait_for_completed()
print("Cozmo is waiting until he sees a cube.")
robot.world.wait_for_observed_light_cube()
print("Cozmo found a cube, and will now attempt to dock with it:")
robot.dock_with_cube(cube1,
approach_angle=cozmo.util.degrees(0),
num_retries=2).wait_for_completed()
def cozmo_program(coz: cozmo.robot.Robot):
# look for all three cubes
lookaround = coz.start_behavior(
cozmo.behavior.BehaviorTypes.LookAroundInPlace)
cubes = coz.world.wait_until_observe_num_objects(
num=1, object_type=cozmo.objects.LightCube, timeout=60)
lookaround.stop()
if len(cubes) < 1:
print('Coulnd' 't locate cube.. aborting')
elif len(cubes) == 1:
print('found cube... proceeding')
#drive to first cube
cube = cubes[0]
cube.set_lights(cozmo.lights.red_light)
coz.say_text('Cube found').wait_for_completed()
action = coz.dock_with_cube(cube,
approach_angle=cozmo.util.degrees(0),
num_retries=2)
action.wait_for_completed()
if action.has_succeeded:
cube.set_lights(cozmo.lights.red_light)
def intent_pass_butter(robot: cozmo.robot.Robot):
robot.set_lift_height(height=0.7).wait_for_completed()
robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE).wait_for_completed()
robot.say_text('oh my god').wait_for_completed()
robot.set_lift_height(height=0.0).wait_for_completed()
robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE).wait_for_completed()
look_around = robot.start_behavior(
cozmo.behavior.BehaviorTypes.LookAroundInPlace)
cube = None
try:
cube = robot.world.wait_for_observed_light_cube(timeout=30)
except asyncio.TimeoutError:
robot.say_text('I cannot find the butter. I have failed my purpose.')
robot.play_anim_trigger(
cozmo.anim.Triggers.CubeMovedUpset).wait_for_completed()
finally:
look_around.stop()
if cube:
action = robot.dock_with_cube(cube,
approach_angle=degrees(0),
num_retries=3)
action.wait_for_completed()
robot.drive_straight(distance_mm(150),
speed_mmps(50)).wait_for_completed()
robot.drive_straight(distance_mm(-150),
speed_mmps(50)).wait_for_completed()
robot.say_text('oh my god', duration_scalar=1.8).wait_for_completed()
async def dock_with_cube(robot: cozmo.robot.Robot):
await robot.set_head_angle(degrees(-5.0)).wait_for_completed()
print("Cozmo is waiting until he sees a cube.")
cube = await robot.world.wait_for_observed_light_cube()
print("Cozmo found a cube, and will now attempt to dock with it:")
# Cozmo will approach the cube he has seen
# using a 180 approach angle will cause him to drive past the cube and approach from the opposite side
# num_retries allows us to specify how many times Cozmo will retry the action in the event of it failing
action = robot.dock_with_cube(cube, approach_angle=cozmo.util.degrees(180), num_retries=2)
await action.wait_for_completed()
print("result:", action.result)
def dock_with_cube(robot: cozmo.robot.Robot):
robot.say_text("This is dock with cube.").wait_for_completed()
time.sleep(2)
#this puts his head in the right position
robot.move_lift(-1)
time.sleep(1)
robot.move_head(-0.1)
time.sleep(0.1)
cube1 = robot.world.get_light_cube(LightCube1Id)
robot.say_text("All right kids. Who's thirsty").wait_for_completed()
print("Cozmo is waiting until he sees a cube.")
robot.world.wait_for_observed_light_cube()
print("Cozmo found a cube, and will now attempt to dock with it:")
cube1 = robot.world.get_light_cube(LightCube1Id)
robot.dock_with_cube(cube1,
approach_angle=cozmo.util.degrees(0),
num_retries=2).wait_for_completed()
time.sleep(3)
async def dock_with_cube(robot: cozmo.robot.Robot):
talkie(robot)
await robot.set_head_angle(degrees(44.0)).wait_for_completed()
await robot.say_text("All right kids. Who's thirsty").wait_for_completed()
await robot.set_head_angle(degrees(0.0)).wait_for_completed()
print("Cozmo is waiting until he sees a cube.")
cubeMy = await robot.world.wait_for_observed_light_cube()
print("Cozmo found a cube, and will now attempt to dock with it:")
action = robot.dock_with_cube(cubeMy,
approach_angle=cozmo.util.degrees(0),
num_retries=2)
await action.wait_for_completed()
def cozmo_program(robot: cozmo.robot.Robot):
# create an origin point where Cozmo's charger is. When he picks up objects he will return here.
# If the robot was on the charger, drive them forward and clear of the charger
if robot.is_on_charger:
robot.drive_off_charger_contacts().wait_for_completed()
robot.drive_straight(distance_mm(100), speed_mmps(50)).wait_for_completed()
robot.move_lift(-3)
robot.turn_in_place(degrees(180)).wait_for_completed()
robot.set_head_angle(degrees(0)).wait_for_completed()
time.sleep(0.5)
# try to find the charger
charger = None
if robot.world.charger:
if robot.world.charger.pose.is_comparable(robot.pose):
# Cozmo knows where the charger is
charger = robot.world.charger
else:
pass
if not charger:
# Tell Cozmo to look around for the charger
look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
try:
charger = robot.world.wait_for_observed_charger(timeout=30)
except asyncio.TimeoutError:
print("Didn't see the charger")
finally:
look_around.stop()
origin = charger
robot.go_to_object(origin, 70)
# on boot up show loading screen
# locate all cubes
look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
look_around.stop()
# define light colours
red_light = cozmo.lights.Light(cozmo.lights.Color(rgb=(255, 0, 0)))
blue_light = cozmo.lights.Light(cozmo.lights.Color(rgb=(0, 0, 255)))
yellow__light = cozmo.lights.Light(cozmo.lights.Color(rgb=(255, 255, 0)))
# tag each cube found as a different colour
red_cube = robot.world.get_light_cube(LightCube1Id)
blue_cube = robot.world.get_light_cube(LightCube2Id)
yellow_cube = robot.world.get_light_cube(LightCube3Id)
red_cube.set_lights(red_light)
blue_cube.set_lights(blue_light)
yellow_cube.set_lights(yellow__light)
# Pass found objects to GUI for selection
robot.say_text("Ready when you are").wait_for_completed()
# user selects which cube they want
robot.say_text("When you are sure that's the one you want. Press the tick, if you want to select another, "
"just press on another object").wait_for_completed()
# Wait for conformation
robot.say_text("OK, I'll be right back.").wait_for_completed()
# cozmo goes and gets cube
action = robot.go_to_object(red_cube, distance_mm(70.0))
action.wait_for_completed()
action = robot.dock_with_cube(red_cube, approach_angle=cozmo.util.degrees(0), num_retries=2)
action.wait_for_completed()
action = robot.pickup_object(red_cube, num_retries=3)
action.wait_for_completed()
robot.say_text("Got it").wait_for_completed()
# Cozmo returns cube to user
action = robot.go_to_object(origin, 70)
action.wait_for_completed()
robot.say_text("Is this one the right one?").wait_for_completed()
# Object is confirmed
robot.say_text("Yay")
# get dat fist bump
robot.say_text("Do you want me to fetch anything else")
# user says no
# cozmo returns to base
# wait for five minutes of inactivity
robot.say_text("I'm going to have a nap now, let me know if you need anything?")
def cozmo_program(robot: cozmo.robot.Robot):
# Définir la couleur jaune
light_yellow = Light(Color(name='yellow', rgb=(255, 255, 0)))
light_cyan = Light(Color(name='cyan', rgb=(0, 255, 255)))
# Tourner jusqu'a détecter un visage
lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.FindFaces)
face = robot.world.wait_for_observed_face()
lookaround.stop()
# Jouer l'animation du Chien
robot.drive_straight(distance_mm(150), speed_mmps(50)).wait_for_completed()
robot.play_anim_trigger(
cozmo.anim.Triggers.CodeLabDog).wait_for_completed()
# Se connecter aux différents cubes et les faire clignoter en jaune
robot.world.get_light_cube(LightCube1Id).set_lights(light_yellow.flash())
robot.world.get_light_cube(LightCube2Id).set_lights(light_yellow.flash())
robot.world.get_light_cube(LightCube3Id).set_lights(light_yellow.flash())
# Attendre jusqu'a ce qu'un cube soit touché
target = robot.world.wait_for(cozmo.objects.EvtObjectTapped)
cube = robot.world.get_light_cube(target.obj.cube_id)
robot.world.get_light_cube(LightCube1Id).set_lights(light_cyan)
robot.world.get_light_cube(LightCube2Id).set_lights(light_cyan)
robot.world.get_light_cube(LightCube3Id).set_lights(light_cyan)
cube.set_lights(light_yellow)
# Tourner jusqu'a détecter le cube
found = False
lookaround = robot.start_behavior(
cozmo.behavior.BehaviorTypes.LookAroundInPlace)
while found is False:
tcube = robot.world.wait_for_observed_light_cube(
include_existing=False)
found = tcube is cube
lookaround.stop()
# Rammasser le cube
robot.dock_with_cube(cube,
approach_angle=cozmo.util.degrees(180),
num_retries=3).wait_for_completed()
robot.move_lift(0.2)
# Tourner jusqu'a détecter de nouvea le visage précédent
found = False
lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.FindFaces)
while found is False:
tface = robot.world.wait_for_observed_face()
found = tface is face
lookaround.stop()
# Se déplacer vers le visage poser le cube
robot.drive_straight(distance_mm(200), speed_mmps(50)).wait_for_completed()
robot.move_lift(-3)
robot.move_lift(0)
robot.drive_straight(distance_mm(-100),
speed_mmps(50)).wait_for_completed()
robot.play_anim_trigger(
cozmo.anim.Triggers.CodeLabDog).wait_for_completed()