PyCozmo

PyCozmo is a pure-Python communication library, alternative SDK, and application for the Cozmo robot . 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 ("C-Like Abstract Data") library.

This project is a tool for exploring the hardware and software of the Digital Dream Labs (originally Anki) Cozmo robot. It is unstable and heavily under development.

Usage

Basic:

import time
import pycozmo

with pycozmo.connect() as cli:
    cli.set_head_angle(angle=0.6)
    time.sleep(1)

Advanced:

import pycozmo

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

cli.drive_wheels(lwheel_speed=50.0, rwheel_speed=50.0, duration=2.0)

cli.disconnect()
cli.stop()

Documentation

https://pycozmo.readthedocs.io/

Robot Support

Sensors:

Actuators:

On-board functions (see docs/functions.md for details:

Off-board functions (see docs/offboard_functions.md for details:

Extra off-board functions:

If you have ideas for other functionality share them via GitHub.

Tools

pycozmo_app.py - an alternative Cozmo application, implementing off-board functions (video).
pycozmo_dump.py - a command-line application that can read and annotate Cozmo communication from pcap files or capture it live using pypcap.
pycozmo_replay.py - a basic command-line application that can replay .pcap files back to Cozmo.
pycozmo_anim.py - a tool for examining and manipulating animation files.
pycozmo_update.py - a tool for over-the-air (OTA) updates of Cozmo's firmware.
pycozmo_protocol_generator.py - a tool for generating Cozmo protocol encoder code.

Note: PyCozmo and pycozmo_protocol_generator.py in particular could be used as a base for creating a Cozmo protocol encoder code generator for languages other than Python (C/C++, Java, etc.).

Examples

Basic:

minimal.py - minimal code to communicate with Cozmo, using PyCozmo
extremes.py - demonstrates Cozmo lift and head control
backpack_lights.py - demonstrates Cozmo backpack LED control
display_image.py - demonstrates visualization of image files on Cozmo's display
events.py - demonstrates event handling
camera.py - demonstrates capturing a camera image
go_to_pose.py - demonstrates moving to a specific pose (position and orientation)
path.py - demonstrates following a predefined path

Advanced:

display_lines.py - demonstrates 2D graphics, using PIL.ImageDraw on Cozmo's display (video)
rc.py - turns Cozmo into an RC tank that can be driven with an XBox 360 Wireless controller or Logitech Gamepad F310
video.py - demonstrates visualizing video captured from the camera back on display
cube_lights.py - demonstrates cube connection and LED control
cube_light_animation.py - demonstrates cube LED animation control
charger_lights.py - demonstrates Cozmo charging platform LED control
audio.py - demonstrates 22 kHz, 16-bit, mono WAVE file playback through Cozmo's speaker
nvram.py - demonstrates reading data from Cozmo's NVRAM (non-volatile memory)
procedural_face.py - demonstrates drawing a procedural face on Cozmo's display
procedural_face_show.py - demonstrates generating a procedural face
procedural_face_expressions.py - demonstrates displaying various facial expressions (video)
anim.py - demonstrates animating Cozmo

PyCozmo In The Wild

Expressive Eyes - rendering various facial expressions using PyCozmo's procedural_face module
an application that recognizes ArUco markers, using OpenCV
a ROS2 driver
another ROS2 driver

Connecting to Cozmo over Wi-Fi

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

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

This video summarizes the connection process.

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

Requirements

Python 3.6.0 or newer
Pillow 6.0.0 - Python image library
FlatBuffers - serialization library
dpkt - TCP/IP packet parsing library

Installation

Using pip:

pip install --user pycozmo

pycozmo_resources.py download

From source:

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

pycozmo_resources.py download

From source, for development:

git clone git@github.com:zayfod/pycozmo.git
cd pycozmo
python setup.py develop --user
pip install --user -r requirements-dev.txt

pycozmo_resources.py download

Support

Bug reports and changes should be sent via GitHub:

https://github.com/zayfod/pycozmo

DDL Robot Discord server, channel #development-cozmo:

https://discord.gg/ew92haS

Disclaimer

This project is not affiliated with Digital Dream Labs or Anki.

About

A pure-Python communication library, alternative SDK, and application for the Cozmo robot.

MIT License

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