pycozmo 0.3.0

A pure-Python Anki Cozmo communication library.

PyCozmo

PyCozmo is a pure-Python Anki Cozmo communication library. It allows controlling a Cozmo robot directly, without having to go through a mobile device, running the Cozmo app.

The library is loosely based on the Anki Cozmo Python SDK and the cozmoclad library.

This project is a tool for exploring the hardware and software of Anki Cozmo. It is unstable and heavily under development.

Usage

Basic mode:

import time
import pycozmo

def pycozmo_program(cli):
    pkt = pycozmo.protocol_encoder.SetHeadAngle(angle_rad=0.6)
    cli.send(pkt)
    time.sleep(1)

pycozmo.run_program(pycozmo_program)

Advanced mode:

import time
import pycozmo

cli = pycozmo.Client()
cli.start()
cli.connect()
cli.wait_for_robot()

pkt = pycozmo.protocol_encoder.DriveWheels(lwheel_speed_mmps=50.0, rwheel_speed_mmps=50.0) 
cli.send(pkt)
time.sleep(2.0)
pkt = pycozmo.protocol_encoder.StopAllMotors()
cli.send(pkt)

cli.disconnect()
cli.stop()

Documentation

• Cozmo protocol description
• Capturing Cozmo communication

Tools

• pycozmo_dump.py - a command-line application that can read and annotate Cozmo communication from pcap files

Examples

• rc.py - turns Cozmo into an RC tank that can be driven with an XBox 360 Wireless Controller
• extremes.py - demonstrates Cozmo lift and head control
• backpack_lights.py - demonstrates Cozmo backpack LED control
• display.py - demonstrates low-level visualization of images on Cozmo's display
• audio.py - demonstrates 22 kHz, 8-bit, mono WAVE file playback through Cozmo's speaker
• events.py - demonstrates event handling
• camera.py - demonstrates capturing a camera image

Robot Support

Sensors:

• Camera - supported
• Cliff sensor - not supported
• Accelerometers - work in progress
• Gyro - work in progress
• Battery voltage - supported
• Cube battery voltage - supported
• Cube accelerometers - supported

Actuators:

• Wheel motors - supported
• Head motor - supported
• Lift motor - supported
• Backpack LEDs - supported
• IR LED - supported
• OLED display - work in progress
• Speaker - supported
• Cube LEDs - supported

Communication:

• Wi-Fi AP - supported
• Bluetooth LE - supported

Connecting to Cozmo over Wi-Fi

A Wi-Fi connection needs to be established with Cozmo before using PyCozmo applications.

1. Wake up Cozmo by placing it on the charging platform
2. Make Cozmo display it's Wi-Fi PSK by rising and lowering its lift
3. Scan for Cozmo's Wi-Fi SSID (depends on the OS)
4. Connect using Cozmo's Wi-Fi PSK (depends on the OS)

PyCozmo vs. the Cozmo SDK

A Cozmo SDK application (aka "game") acts as a client to the Cozmo app (aka "engine") that runs on a mobile device. The low-level communication happens over USB and is handled by the cozmoclad library.

In contrast, an application using PyCozmo basically replaces the Cozmo app and acts as the "engine". PyCozmo handles the low-level UDP communication with Cozmo.

+------------------+                      +------------------+                      +------------------+
|     SDK app      |      Cozmo SDK       |    Cozmo app     |       PyCozmo        |      Cozmo       |
|      "game"      |      cozmoclad       |     "engine"     |                      |     "robot"      |
|                  | +------------------> |   Wi-Fi client   | +------------------> |     Wi-Fi AP     |
|                  |         USB          |    UDP client    |      UDP/Wi-Fi       |    UDP Server    |
+------------------+                      +------------------+                      +------------------+

Limitations

• some high-level Cozmo SDK features are implemented in the Cozmo app and have no equivalent in PyCozmo:
  • personality engine
  • behaviors
  • motion detection
  • text-to-speech
  • songs
• there is no Wi-Fi control. The library assumes a Wi-Fi connection to Cozmo, established in advance.
• frame retransmission is not implemented
• transmission of multiple packets in a single frame is not implemented

Requirements

• Python 3.5

Installation

Using pip:

pip install pycozmo

From source:

git clone https://github.com/zayfod/pycozmo.git
cd pycozmo
python setup.py install

Bugs

Bug reports and patches should be sent via GitHub:

https://github.com/zayfod/pycozmo