def cozmo_program(robot: cozmo.robot.Robot):
current_directory = os.path.dirname(os.path.realpath(__file__))
#get_in_position(robot)
sdk_png = os.path.join(current_directory, "circles02.png")
hello_png = os.path.join(current_directory, "circles3.jpg")
# load some images and convert them for display cozmo's face
image_settings = [(sdk_png, Image.BICUBIC), (hello_png, Image.NEAREST)]
face_images = []
for image_name, resampling_mode in image_settings:
image = Image.open(image_name)
# resize to fit on Cozmo's face screen
resized_image = image.resize((64, 32), resampling_mode)
# convert the image to the format used by the oled screen
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
face_images.append(face_image)
# display each image on Cozmo's face for duration_s seconds (Note: this
# is clamped at 30 seconds max within the engine to prevent burn-in)
# repeat this num_loops times
num_loops = 10
duration_s = 100
print("Press CTRL-C to quit (or wait %s seconds to complete)" %
int(num_loops * duration_s))
for _ in range(num_loops):
for image in face_images:
robot.display_oled_face_image(image, duration_s * 1000.0)
time.sleep(duration_s)
def alarm_clock(robot: cozmo.robot.Robot):
'''The core of the alarm_clock program'''
alarm_time = extract_time_from_args()
if alarm_time:
print("Alarm set for %s" % alarm_time)
else:
print("No Alarm time provided. Usage example: 'alarm_clock.py 17:23' to set alarm for 5:23 PM. (Input uses the 24-hour clock.)")
print("Press CTRL-C to quit")
get_in_position(robot)
was_before_alarm_time = False
last_displayed_time = None
while True:
current_time = datetime.datetime.now().time()
do_alarm = False
if alarm_time:
is_before_alarm_time = current_time < alarm_time
do_alarm = was_before_alarm_time and not is_before_alarm_time
was_before_alarm_time = is_before_alarm_time
if do_alarm:
robot.abort_all_actions()
with robot.perform_off_charger():
short_time_string = str(current_time.hour) + ":" + str(current_time.minute)
robot.say_text("Wake up lazy human! it's " + short_time_string).wait_for_completed()
else:
if (last_displayed_time is None) or (current_time.second != last_displayed_time.second):
clock_image = make_clock_image(current_time)
oled_face_data = cozmo.oled_face.convert_image_to_screen_data(clock_image)
# display for 1 second
robot.display_oled_face_image(oled_face_data, 1000.0)
last_displayed_time = current_time
time.sleep(0.1)
def cozmo_program(robot: cozmo.robot.Robot):
robot.move_head(-1)
robot.move_lift(-1)
time.sleep(10)
robot.move_head(1)
time.sleep(.4)
robot.play_anim(name="id_poked_giggle").wait_for_completed()
robot.play_anim(name="id_poked_giggle").wait_for_completed()
robot.play_anim(name="id_poked_giggle").wait_for_completed()
image_settings = [
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/cozmosdk.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Cozmo The kid.jpg",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Cozmo The King.jpg",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/hello_world.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/ifttt_gmail.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/ifttt_sports.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/ifttt_stocks.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Glowing_Alien_Authorize.jpg",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Glowing_Geo-Sphere.jpg",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/White-Website-Link-Card.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Joey-in-Lights-Web-Small.gif",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Joey-Chroma-Key.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/3D_Award.jpg",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Pure-White-Transparent-Portrait.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Mogie-Works-2T.png",
Image.NEAREST),
("C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Pure-White-Transparent-Dog.png",
Image.NEAREST),
]
face_images = []
for image_name, resampling_mode in image_settings:
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(),
resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
face_images.append(face_image)
num_loops = 1
duration_s = 2.0
for _ in range(num_loops):
for image in face_images:
robot.display_oled_face_image(image, duration_s * 1000.0)
time.sleep(duration_s)
def setup_position(robot: cozmo.robot.Robot):
if robot.lift_height.distance_mm > 45:
with robot.perform_off_charger():
robot.set_lift_height(0,20).wait_for_completed()
resampling_mode = Image.NEAREST
image_name= "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Cozmo_Primary_Gradient_Logo-2.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(resized_image,invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
def singDayman(robot: cozmo.robot.Robot):
get_in_position(robot)
# load some images and convert them for display cozmo's face
image_settings = [("images/sun.png", Image.NEAREST),
("images/nightman.png", Image.NEAREST), ("images/hearts.png", Image.NEAREST)]
face_images = []
for image_name, resampling_mode in image_settings:
image = Image.open(image_name)
# resize to fit on Cozmo's face screen
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
# convert the image to the format used by the oled screen
face_image = cozmo.oled_face.convert_image_to_screen_data(resized_image,
invert_image=True)
face_images.append(face_image)
# getting formatted images out
sunImg = face_images[0]
nightManImg = face_images[1]
heartsImg = face_images[2]
robot.say_text("day man", duration_scalar= .5,in_parallel=True).wait_for_completed()
## robot.play_anim_trigger(Surprise).wait_for_completed()
harmony(robot)
a1 = robot.say_text("fighter of the night man", duration_scalar= .7,in_parallel=True)
a2 = robot.display_oled_face_image(nightManImg, .5 * 1000.0, in_parallel=True)
syncThisShit([a1,a2], 0 )
harmony(robot)
a3 = robot.say_text("champion of the sun", duration_scalar= .7,in_parallel=True)
a4 = robot.display_oled_face_image(sunImg, .5 * 1000.0, in_parallel=True)
syncThisShit([a3,a4], 0 )
harmony(robot)
a5 = robot.say_text("master of karate and friendship for everyone!", duration_scalar= .7,in_parallel=True)
a6 = robot.display_oled_face_image(heartsImg, 1.5 * 1000.0, in_parallel=True)
syncThisShit([a5,a6], 0 )
def example3_abort_one_action(robot: cozmo.robot.Robot):
cozmo.logger.info("----------------------------------------")
cozmo.logger.info("Example 3: Abort some parallel actions.")
cozmo.logger.info("Start multiple parallel actions:")
action1 = robot.set_lift_height(0.0, in_parallel=True)
action2 = robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE,
duration=6.0,
in_parallel=True)
action3 = robot.drive_straight(distance_mm(75),
speed_mmps(25),
should_play_anim=False,
in_parallel=True)
action4 = robot.display_oled_face_image(
face_image, 30000.0) # Note: face image is in_parallel by default
# Lift-lowering is aborted immediately
action1.abort(log_abort_messages=True)
# Head-lowering is aborted shortly afterwards
time.sleep(0.1)
action2.abort(log_abort_messages=True)
# Image on Cozmo's face is aborted another 2 seconds later
time.sleep(2)
action4.abort(log_abort_messages=True)
# We wait for the one remaining action to complete
action3.wait_for_completed()
# Only action3 should succeed (as long as Cozmo had enough space to drive)
cozmo.logger.info("action1 = %s", action1)
cozmo.logger.info("action2 = %s", action2)
cozmo.logger.info("action3 = %s", action3)
cozmo.logger.info("action4 = %s", action4)
def cozmo_face_mirror(robot: cozmo.robot.Robot):
robot.camera.image_stream_enabled = True
get_in_position(robot)
face_dimensions = cozmo.oled_face.SCREEN_WIDTH, cozmo.oled_face.SCREEN_HALF_HEIGHT
print("Press CTRL-C to quit")
while True:
duration_s = 0.1
latest_image = robot.world.latest_image
if latest_image is not None:
# Scale the camera image down to fit on Cozmo's face
resized_image = latest_image.raw_image.resize(
face_dimensions, Image.BICUBIC)
resized_image = resized_image
pixel_threshold = calc_pixel_threshold(resized_image)
screen_data = cozmo.oled_face.convert_image_to_screen_data(
resized_image, pixel_threshold=pixel_threshold)
robot.display_oled_face_image(screen_data, duration_s * 1000.0)
time.sleep(duration_s)
def cozmo_program(robot: cozmo.robot.Robot):
setup_position(robot)
raw_images = [('../images/animal.jpg', Image.BICUBIC),
('../images/male.jpg', Image.BICUBIC),
('../images/star.jpg', Image.BICUBIC)]
face_images = []
for name, mode in raw_images:
img = Image.open(name)
resize = img.resize(cozmo.oled_face.dimensions(), mode)
face = cozmo.oled_face.convert_image_to_screen_data(resize,
invert_image=True)
face_images.append(face)
num_loops = 10
duration = 2
for _ in range(num_loops):
for image in face_images:
robot.display_oled_face_image(image, duration * 1000.0)
time.sleep(duration)
def cozmo_boost_face(robot: cozmo.robot.Robot):
setup_position(robot)
raw_images = [
('C:\\Users\\Alexa\\OneDrive\\Desktop\\Year 10\\EPM\\logo.jpg',
Image.BICUBIC)
]
face_images = []
for name, mode in raw_images:
img = Image.open(name)
resize = img.resize(cozmo.oled_face.dimensions(), mode)
face = cozmo.oled_face.convert_image_to_screen_data(resize,
invert_image=True)
face_images.append(face)
num_loops = 10
duration = 2
for _ in range(num_loops):
for image in face_images:
robot.display_oled_face_image(image, duration * 1000.0)
time.sleep(duration)
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
def cozmo_program(robot: cozmo.robot.Robot):
time.sleep(10)
robot.move_head(-1)
robot.move_lift(-1)
time.sleep(5)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Cozmo_Primary_Gradient_Logo-2.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/cozmosdk.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/hello_world.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Cozmo The kid.jpg"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Cozmo The King.jpg"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/ifttt_gmail.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/ifttt_sports.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/ifttt_stocks.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Star-Two-Tone-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Planet-Shape-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Space-Station-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/UFO-Shape-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Alien-Head-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Atom-Shape-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Nuke-Symble-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Round-Squaer-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Squaers-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Hexago-Pattern-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Heart-Shape-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Diamond-Shape-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Club-Shape-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Spade-Shape-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Tittle Mask.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Pure-White-Transparent-Skull-Mask.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Yen-Yan-Shape-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Joey-Tittle-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/3D_Award.jpg"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=True)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Award-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Joey-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Pure-White-Transparent-Portrait.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Mogie-Works-2T.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Youtube Thumbnail.jpg"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Pure-White-Transparent-Dog.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Teardrop-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Spaceuphoria-Logo-Chroma-Ke.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Mascot-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Clear-Website-Link-Card-Mas.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/Spaceuphoria-Link-Chroma-Ke.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
resampling_mode = Image.NEAREST
image_name = "C:/Users/MI700T/Documents/cozmo_sdk_examples_1.2.1/face_images/The-Joshua-Logo-Chroma-Key.png"
image = Image.open(image_name)
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
face_image = cozmo.oled_face.convert_image_to_screen_data(
resized_image, invert_image=False)
duration_s = 3.0
robot.display_oled_face_image(face_image, duration_s * 1000.0)
time.sleep(duration_s)
robot.move_head(-1)
time.sleep(20)
async def run(robot: cozmo.robot.Robot):
'''The run method runs once the Cozmo SDK is connected.'''
# add annotators for battery level and ball bounding box
robot.world.image_annotator.add_annotator('battery', BatteryAnnotator)
robot.world.image_annotator.add_annotator('ball', BallAnnotator)
try:
await robot.set_lift_height(0.0, in_parallel=True).wait_for_completed()
await robot.set_head_angle(degrees(-17),
in_parallel=True).wait_for_completed()
focalLength = 132.7
actualBallHeight = 40
isNotFinished = 1
state = "initial"
prevBall = [0, 0, 0]
robot.set_robot_volume(0.3)
myCozmo = cozmoFSM("myCozmo")
while isNotFinished:
oled_face_data = cozmo.oled_face.convert_image_to_screen_data(
make_text_image(myCozmo.state, 8, 6, _clock_font))
robot.display_oled_face_image(oled_face_data,
1000.0,
in_parallel=True)
# get camera image
event = await robot.world.wait_for(
cozmo.camera.EvtNewRawCameraImage, timeout=30)
# convert camera image to opencv format
opencv_image = cv2.cvtColor(np.asarray(event.image),
cv2.COLOR_RGB2GRAY)
height, width = opencv_image.shape[:2]
# look for ball
ball = find_ball.find_ball(opencv_image)
if ball[0] != 0 or ball[1] != 0 or ball[2] != 0:
ballDetected = 1
prevBall = ball
else:
ball = None
ballDetected = 0
BallAnnotator.ball = ball
if myCozmo.state == "initial":
print("Starting state: initial")
# print('\a')
if ballDetected == 1:
print("Previous state: initial, new state: drive")
myCozmo.ballDetected()
else:
print("Previous state: initial, new state: search")
myCozmo.ballLost()
# print('\a')
elif myCozmo.state == "search":
# robot.stop_all_motors()
if ballDetected == 1:
robot.stop_all_motors()
print("Previous state: search, new state: drive")
myCozmo.ballDetected()
# print('\a')
continue
else:
if prevBall[0] != 0 or prevBall[1] != 0 or prevBall[2] != 0:
offset = width / 2 - prevBall[0]
if offset < 0:
await robot.drive_wheels(35, -35)
else:
await robot.drive_wheels(-35, 35)
else:
await robot.drive_wheels(-35, 35)
elif myCozmo.state == "drive":
if not ballDetected:
print("Previous state: drive, new state: search")
myCozmo.ballLost()
# print('\a')
continue
if ballDetected:
distance = actualBallHeight * focalLength / ball[2]
leftConst = 70
rightConst = 70
offset = width / 2 - ball[0]
leftSpeed = leftConst - 0.333 * offset
rightSpeed = rightConst + 0.333 * offset
if distance < 54 or ball[2] > 98:
print("Previous state: drive, new state: hit ball")
myCozmo.ballInReach()
# print(state)
# print('\a')
else:
await robot.drive_wheels(leftSpeed, rightSpeed)
elif myCozmo.state == "hitball":
await robot.set_lift_height(
0.5, in_parallel=True).wait_for_completed()
await robot.set_lift_height(
0.1, in_parallel=True).wait_for_completed()
print("Previous state: hit ball, new state: drive")
myCozmo.ballDetected()
# print('\a')
# isNotFinished = 0
except KeyboardInterrupt:
print("")
print("Exit requested by user")
except cozmo.RobotBusy as e:
print(e)
def cozmo_program(robot: cozmo.robot.Robot):
global face_images
global gaze_type
global gaze_side
get_in_position(robot)
# load some images and convert them for display cozmo's face
setup_images("eyes_image/%s.png" % (gaze_type))
setup_images("eyes_image/%s.png" % (gaze_type))
for i in range(1, 7, 1):
#print("close %d" %i)
setup_images("%s/%s%d.png" % (gaze_type, gaze_side, i))
for i in range(6, 0, -1):
#print("open %d" %i)
setup_images("%s/%s%d.png" % (gaze_type, gaze_side, i))
# display each image on Cozmo's face for duration_s seconds (Note: this
# is clamped at 30 seconds max within the engine to prevent burn-in)
# repeat this num_loops times
num_loops = 2 # Increase the number of blinks here. This is 5 blinks in a loop
duration_s = 0.02 # Increase time here to make it slower
#robot.play_audio(cozmo.audio.AudioEvents.Sfx_Flappy_Increase)
print("Press CTRL-C to quit (or wait %s seconds to complete)" %
int(num_loops * duration_s))
ts = time.time()
print(ts)
#for _ in range(num_loops):
face_to_follow = None
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)
robot.display_oled_face_image(face_images[1],
5000.0,
in_parallel=True)
if not (face_to_follow and face_to_follow.is_visible):
# find a visible face, timeout if nothing found after a short while
robot.display_oled_face_image(face_images[1],
10000.0,
in_parallel=True)
try:
robot.display_oled_face_image(face_images[1],
10000.0,
in_parallel=True)
face_to_follow = robot.world.wait_for_observed_face(timeout=30)
except asyncio.TimeoutError:
print("Didn't find a face")
robot.display_oled_face_image(face_images[1],
10000.0,
in_parallel=True)
#return
if turn_action:
# Complete the turn action if one was in progress
turn_action.wait_for_completed()
time.sleep(.1)
for image in face_images:
robot.display_oled_face_image(image, duration_s * 1000.0)
time.sleep(duration_s)
robot.display_oled_face_image(face_images[-1], 2000.0)
time.sleep(2)
if keyboard.is_pressed("t"):
print("You pressed t")
ts = time.time()
print(ts)
if keyboard.is_pressed("w"):
print("You pressed w")
ts = time.time()
print(ts)
action1 = robot.say_text("Yeaaaaaaaaaaaaaahhh",
voice_pitch=1,
in_parallel=True)
action2 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE,
in_parallel=True)
action3 = robot.set_lift_height(0.0, in_parallel=True)
action4 = robot.display_oled_face_image(face_images[6],
5000.0,
in_parallel=True)
action5 = robot.turn_in_place(degrees(360), in_parallel=True)
break
if keyboard.is_pressed("l"):
print("You pressed l")
ts = time.time()
print(ts)
action1 = robot.say_text("Nooooooooh",
voice_pitch=-1,
in_parallel=True)
action2 = robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE,
in_parallel=True)
action3 = robot.set_lift_height(1.0, in_parallel=True)
action4 = robot.display_oled_face_image(face_images[6],
5000.0,
in_parallel=True)
action5 = robot.drive_straight(distance_mm(-50),
speed_mmps(10),
in_parallel=True)
break
robot.display_oled_face_image(face_images[6], 5000.0)
while True:
for image in face_images:
robot.set_lift_height(0.0, in_parallel=True)
robot.display_oled_face_image(image, duration_s * 1000.0)
time.sleep(duration_s)
robot.display_oled_face_image(face_images[-1], 2000.0)
time.sleep(2)
if keyboard.is_pressed("q"):
print("You pressed q")
ts = time.time()
print(ts)
break
async def main(robot: cozmo.robot.Robot):
#initialize the machine state
state_machine = CozmoStates()
state_machine.set_cozmo_coords(robot.pose.position)
#event handlers
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
state_machine.handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
state_machine.handle_object_disappeared)
#are we looking for cube 2?
look_for_cube_2 = False
#cube1 definition
await robot.world.define_custom_cube(
CustomObjectTypes.CustomType00,
state_machine.cube_arr[state_machine.current_cube], 44, 30, 30, False)
while True:
print('######looping#####')
#get camera image
event = await robot.world.wait_for(cozmo.camera.EvtNewRawCameraImage,
timeout=30)
#refresh the coords
state_machine.set_cozmo_coords(robot.pose)
#triggers when we want the first cube
if state_machine.current_cube == 1:
print('cube = 1')
if state_machine.cube_coords == False:
state_machine.cube_not_found()
else:
state_machine.calc_goto_coords()
if (state_machine.calc_dist_from_cozmo() >
state_machine.proximity_distance):
if state_machine.goto_y >= 20:
state_machine.found_cube_left()
elif state_machine.goto_y < -20:
state_machine.found_cube_right()
else:
print('Cube ahead!')
state_machine.found_cube_ahead()
else:
robot.stop_all_motors()
state_machine.on_enter_near_cube()
#triggers when we want cube 2
if state_machine.current_cube == 2:
print('cube = 2')
#reset the data if this is the first instance
if look_for_cube_2 == False:
robot.stop_all_motors()
print('\nPART 1 DONE! GO TO CUBE 2\n')
await robot.say_text('Look for cube 2',
in_parallel=True).wait_for_completed()
state_machine.set_cozmo_coords(robot.pose)
state_machine.calc_goto_coords()
print(state_machine.calc_dist_from_cozmo())
look_for_cube_2 = True
state_machine.cube_not_found()
state_machine.cube_coords = False
#define the second cube
await robot.world.define_custom_cube(
CustomObjectTypes.CustomType00,
state_machine.cube_arr[state_machine.current_cube], 44, 30,
30, False)
#where does cozmo need to move?
if (state_machine.cube_coords == False) or (state_machine.see_cube
== False):
if state_machine.get_current_state() == 'drive_straight':
if state_machine.goto_y < state_machine.mid_screen:
state_machine.found_cube_left()
elif state_machine.goto_y < -20:
state_machine.found_cube_right()
else:
print('Cube ahead!')
state_machine.found_cube_ahead()
else:
state_machine.cube_not_found()
#cozmo sees cube
else:
state_machine.calc_goto_coords()
if (state_machine.calc_dist_from_cozmo() >
state_machine.proximity_distance):
if state_machine.goto_y < -20:
state_machine.found_cube_right()
elif state_machine.goto_y > 20:
state_machine.found_cube_left()
else:
state_machine.found_cube_ahead()
else:
robot.stop_all_motors()
state_machine.on_enter_near_cube()
#update states
last_state = state_machine.get_last_state()
current_state = state_machine.get_current_state()
#was there a state transition? WIll only trigger if a cube was detected
if last_state is not current_state:
#audio cue, takes a long time, need to comment out
#await robot.say_text('b', in_parallel = True).wait_for_completed()
#print the state transition to terminal & reset the state
print('Last state: ' + last_state)
print('Current state: ' + current_state)
print('Coords to cube: ')
#some reason, cant print this with the Coords to cube: print statement
print(state_machine.calc_goto_coords())
#update the state
state_machine.set_last_state(current_state)
# the anki victor text stuff, taken and modified
#
faceImage = Image.new('RGBA', (128, 64), (0, 0, 0, 255))
dc = ImageDraw.Draw(faceImage)
try:
font_file = ImageFont.truetype('arial.ttf', 20)
except IOError:
print('IoError')
try:
font_file = ImageFont.truetype(
'/usr/share/fonts/noto/NotoSans-Medium.ttf', 20)
except IOError:
print('IoError 2')
pass
dc.text((0, 0),
current_state,
fill=(255, 255, 255, 255),
font=font_file)
screen_data = cozmo.oled_face.convert_image_to_screen_data(
faceImage)
robot.display_oled_face_image(screen_data,
600000000.0,
in_parallel=True)
#update how robot should move
await robot.drive_wheels(state_machine.get_l_motor_speed(),
state_machine.get_r_motor_speed())
async def run(robot: cozmo.robot.Robot):
'''The run method runs once the Cozmo SDK is connected.'''
#add annotators for battery level and ball bounding box
robot.world.image_annotator.add_annotator('battery', BatteryAnnotator)
robot.world.image_annotator.add_annotator('ball', BallAnnotator)
try:
state = State()
robot.display_oled_face_image(image(state.cur),
20000,
in_parallel=True)
trigger = True
isBallFound = False
isRobotAtBall = False
left = False
right = False
robot.set_head_angle(radians(-0.23), in_parallel=True)
# prevPos = None
# direction = None
while trigger:
#get camera image
event = await robot.world.wait_for(
cozmo.camera.EvtNewRawCameraImage, timeout=30)
#convert camera image to opencv format
opencv_image = cv2.cvtColor(np.asarray(event.image),
cv2.COLOR_RGB2GRAY)
h, w = opencv_image.shape
# print(w)
#find the ball
ball = find_ball.find_ball(opencv_image)
distance = calcDistance(ball)
# if prevPos
#set annotator ball
BallAnnotator.ball = ball
BallAnnotator.distance = distance
# BallAnnotator.direction = direction
if state.isCurState("START"):
robot.set_lift_height(0, in_parallel=True)
# robot.display_oled_face_image(image(state.cur), 10.0, in_parallel=True)
#spin around and search for ball
#Make a sound and print something on screen
# display for 1 second
if ball is None:
await robot.drive_wheels(17, -17)
else:
await robot.drive_wheels(0, 0, 0.5)
state.next()
robot.display_oled_face_image(image(state.cur),
20000,
in_parallel=True)
if state.isCurState("TRAVELING"):
# robot.display_oled_face_image(image(state.cur), 10.0, in_parallel=True)
#Print and sound off
# move towards ball
if distance is None:
if left:
lspeed = 5
rspeed = 2 * base
if right:
lspeed = 2 * base
rspeed = 5
await robot.drive_wheels(lspeed, rspeed)
if distance is not None:
if distance > 85:
base = 25
adj = (ball[0] - (w / 2)) / (distance**0.5)
# print(distance)
# print("adj:", adj)
left = adj < -0.75
right = adj > 0.75
if left:
lspeed = base
rspeed = base - adj
# print("LEFT")
elif right:
lspeed = base + adj
rspeed = base
# print("RIGHT")
else:
lspeed = base + 20
rspeed = base + 20
await robot.drive_wheels(lspeed, rspeed)
else:
state.next()
robot.display_oled_face_image(image(state.cur),
20000,
in_parallel=True)
if state.isCurState("END"):
# robot.display_oled_face_image(image(state.cur), 10.0, in_parallel = True)
#tap ball
#Screen and sound off
robot.set_lift_height(1, in_parallel=True).wait_for_completed()
robot.set_lift_height(0, in_parallel=True).wait_for_completed()
if distance is None:
if left or right:
state.next()
robot.display_oled_face_image(image(state.cur),
20000,
in_parallel=True)
elif distance > 85:
state.next()
robot.display_oled_face_image(image(state.cur),
20000,
in_parallel=True)
if state.isCurState("PAUSE"):
#pause for a moment
await robot.drive_wheels(0, 0, 0.05)
state.next()
robot.display_oled_face_image(image(state.cur),
100,
in_parallel=True)
except KeyboardInterrupt:
print("")
print("Exit requested by user")
except cozmo.RobotBusy as e:
print(e)
