Cozmo人工智慧機器人SDK使用筆記（4）-任務部分cubes_and_objects

先簡單總結一下使用筆記1-3：

基礎部分介紹了一些常用功能，比如運動控制、LED顯示和揚聲器互動等

人機介面顯示部分--輸出，cozmo面部螢幕輸出一些基本資訊

人機介面視覺部分--輸入，cozmo攝像頭獲取環境資訊並處理等

接著，就自然過渡到第四部分----立方體和物體任務部分，共有13個專案專題，非常有趣。

Cozmo環顧四周，找尋充電底座圖示，然後行駛到附近，任務完成。

1. go to pose

給定Cozmo目標位置和角度，然後行駛到對應位置和角度。

先設定目標，然後如果將relative_to_robot設定為true，就是相對量，當年機器人為原點，給定目標相對原點的距離和角度。

核心程式碼如下：

def cozmo_program(robot: cozmo.robot.Robot):
    robot.go_to_pose(Pose(100, 100, 0, angle_z=degrees(45)), relative_to_robot=True).wait_for_completed()

2. create wall

虛擬牆，並繞過行駛到目標。

核心程式碼：

import cozmo
from cozmo.util import degrees, Pose


def cozmo_program(robot: cozmo.robot.Robot):
    fixed_object = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
                                                        10, 100, 100, relative_to_robot=True)
    if fixed_object:
        print("fixed_object created successfully")

    robot.go_to_pose(Pose(200, 0, 0, angle_z=degrees(0)), relative_to_robot=True).wait_for_completed()


cozmo.run_program(cozmo_program, use_3d_viewer=True)

3. go to object

Cozmo找到一個立方體（1-3皆可以），然後行駛到對應立方體附近。

def go_to_object_test(robot: cozmo.robot.Robot):
    '''The core of the go to object test program'''

    # Move lift down and tilt the head up
    robot.move_lift(-3)
    robot.set_head_angle(degrees(0)).wait_for_completed()

    # look around and try to find a cube
    look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)

    cube = None

    try:
        cube = robot.world.wait_for_observed_light_cube(timeout=30)
        print("Found cube: %s" % cube)
    except asyncio.TimeoutError:
        print("Didn't find a cube")
    finally:
        # whether we find it or not, we want to stop the behavior
        look_around.stop()

    if cube:
        # Drive to 70mm away from the cube (much closer and Cozmo
        # will likely hit the cube) and then stop.
        action = robot.go_to_object(cube, distance_mm(70.0))
        action.wait_for_completed()
        print("Completed action: result = %s" % action)
        print("Done.")

4. stack or roll

讓Cozmo依據找到的立方體的數量執行不同的任務。

超時時間預設為10s，環顧四周，找尋立方體，根據數量進行操作：

0---恩，它很生氣

1---翻滾立方體

2---堆疊立方體

import cozmo


def cozmo_program(robot: cozmo.robot.Robot):
    lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)

    cubes = robot.world.wait_until_observe_num_objects(num=2, object_type=cozmo.objects.LightCube, timeout=10)

    print("Found %s cubes" % len(cubes))

    lookaround.stop()

    if len(cubes) == 0:
        robot.play_anim_trigger(cozmo.anim.Triggers.MajorFail).wait_for_completed()
    elif len(cubes) == 1:
        robot.run_timed_behavior(cozmo.behavior.BehaviorTypes.RollBlock, active_time=60)
    else:
        robot.run_timed_behavior(cozmo.behavior.BehaviorTypes.StackBlocks, active_time=60)


cozmo.run_program(cozmo_program)

5. cube stack

Cozmo堆疊立方體。Cozmo將等到它看到兩個立方體，然後拿起一個並將其放在另一個立方體上。它會拿起看到的第一個，然後把它放在第二個上。

def cozmo_program(robot: cozmo.robot.Robot):
    # Attempt to stack 2 cubes

    # Lookaround until Cozmo knows where at least 2 cubes are:
    lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
    cubes = robot.world.wait_until_observe_num_objects(num=2, object_type=cozmo.objects.LightCube, timeout=60)
    lookaround.stop()

    if len(cubes) < 2:
        print("Error: need 2 Cubes but only found", len(cubes), "Cube(s)")
    else:
        # Try and pickup the 1st cube
        current_action = robot.pickup_object(cubes[0], num_retries=3)
        current_action.wait_for_completed()
        if current_action.has_failed:
            code, reason = current_action.failure_reason
            result = current_action.result
            print("Pickup Cube failed: code=%s reason='%s' result=%s" % (code, reason, result))
            return

        # Now try to place that cube on the 2nd one
        current_action = robot.place_on_object(cubes[1], num_retries=3)
        current_action.wait_for_completed()
        if current_action.has_failed:
            code, reason = current_action.failure_reason
            result = current_action.result
            print("Place On Cube failed: code=%s reason='%s' result=%s" % (code, reason, result))
            return

        print("Cozmo successfully stacked 2 blocks!")

6. pickup furthest

讓Cozmo拿起最遠的立方體。此例項演示物件位置姿態的簡單數學運算。

(dst = translation.position.x ** 2 + translation.position.y ** 2)

機器人試圖在視覺中找到三個立方體，可以在指令碼開啟的攝像頭視窗中看到執行過程。每個立方體將顯示輪廓和立方體編號。機器人等待直到找到3個立方體，然後嘗試拿起最遠的一個。

import cozmo


def cozmo_program(robot: cozmo.robot.Robot):
    lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
    cubes = robot.world.wait_until_observe_num_objects(num=3, object_type=cozmo.objects.LightCube, timeout=60)
    lookaround.stop()

    max_dst, targ = 0, None
    for cube in cubes:
        translation = robot.pose - cube.pose
        dst = translation.position.x ** 2 + translation.position.y ** 2
        if dst > max_dst:
            max_dst, targ = dst, cube

    if len(cubes) < 3:
        print("Error: need 3 Cubes but only found", len(cubes), "Cube(s)")
    else:
        robot.pickup_object(targ, num_retries=3).wait_for_completed()


cozmo.run_program(cozmo_program, use_viewer=True)

7. look around

Cozmo環顧四周，做出反應，然後拿起並放下一個立方體。

import asyncio

import cozmo
from cozmo.util import degrees


def cozmo_program(robot: cozmo.robot.Robot):
    look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)

    # try to find a block
    cube = None

    try:
        cube = robot.world.wait_for_observed_light_cube(timeout=30)
        print("Found cube", cube)

    except asyncio.TimeoutError:
        print("Didn't find a cube :-(")

    finally:
        # whether we find it or not, we want to stop the behavior
        look_around.stop()

    if cube is None:
        robot.play_anim_trigger(cozmo.anim.Triggers.MajorFail)
        return

    print("Yay, found cube")

    cube.set_lights(cozmo.lights.green_light.flash())

    anim = robot.play_anim_trigger(cozmo.anim.Triggers.BlockReact)
    anim.wait_for_completed()


    action = robot.pickup_object(cube)
    print("got action", action)
    result = action.wait_for_completed(timeout=30)
    print("got action result", result)

    robot.turn_in_place(degrees(90)).wait_for_completed()

    action = robot.place_object_on_ground_here(cube)
    print("got action", action)
    result = action.wait_for_completed(timeout=30)
    print("got action result", result)

    anim = robot.play_anim_trigger(cozmo.anim.Triggers.MajorWin)
    cube.set_light_corners(None, None, None, None)
    anim.wait_for_completed()


cozmo.run_program(cozmo_program)

8. drive to charger

讓Cozmo行駛到充電底座附近。

import asyncio
import time

import cozmo
from cozmo.util import degrees, distance_mm, speed_mmps


def drive_to_charger(robot):
    '''The core of the drive_to_charger program'''

    # If the robot was on the charger, drive them forward and clear of the charger
    if robot.is_on_charger:
        # drive off the charger
        robot.drive_off_charger_contacts().wait_for_completed()
        robot.drive_straight(distance_mm(100), speed_mmps(50)).wait_for_completed()
        # Start moving the lift down
        robot.move_lift(-3)
        # turn around to look at the charger
        robot.turn_in_place(degrees(180)).wait_for_completed()
        # Tilt the head to be level
        robot.set_head_angle(degrees(0)).wait_for_completed()
        # wait half a second to ensure Cozmo has seen the charger
        time.sleep(0.5)
        # drive backwards away from the charger
        robot.drive_straight(distance_mm(-60), speed_mmps(50)).wait_for_completed()

    # try to find the charger
    charger = None

    # see if Cozmo already knows where the charger is
    if robot.world.charger:
        if robot.world.charger.pose.is_comparable(robot.pose):
            print("Cozmo already knows where the charger is!")
            charger = robot.world.charger
        else:
            # Cozmo knows about the charger, but the pose is not based on the
            # same origin as the robot (e.g. the robot was moved since seeing
            # the charger) so try to look for the charger first
            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)
            print("Found charger: %s" % charger)
        except asyncio.TimeoutError:
            print("Didn't see the charger")
        finally:
            # whether we find it or not, we want to stop the behavior
            look_around.stop()

    if charger:
        # Attempt to drive near to the charger, and then stop.
        action = robot.go_to_object(charger, distance_mm(65.0))
        action.wait_for_completed()
        print("Completed action: result = %s" % action)
        print("Done.")


cozmo.robot.Robot.drive_off_charger_on_connect = False  # Cozmo can stay on charger for now
cozmo.run_program(drive_to_charger, use_viewer=True, force_viewer_on_top=True)

9. custom objects

自定義物件，包括大小和形狀等。

import time

import cozmo
from cozmo.objects import CustomObject, CustomObjectMarkers, CustomObjectTypes


def handle_object_appeared(evt, **kw):
    # This will be called whenever an EvtObjectAppeared is dispatched -
    # whenever an Object comes into view.
    if isinstance(evt.obj, CustomObject):
        print("Cozmo started seeing a %s" % str(evt.obj.object_type))


def handle_object_disappeared(evt, **kw):
    # This will be called whenever an EvtObjectDisappeared is dispatched -
    # whenever an Object goes out of view.
    if isinstance(evt.obj, CustomObject):
        print("Cozmo stopped seeing a %s" % str(evt.obj.object_type))


def custom_objects(robot: cozmo.robot.Robot):
    # Add event handlers for whenever Cozmo sees a new object
    robot.add_event_handler(cozmo.objects.EvtObjectAppeared, handle_object_appeared)
    robot.add_event_handler(cozmo.objects.EvtObjectDisappeared, handle_object_disappeared)

    # define a unique cube (44mm x 44mm x 44mm) (approximately the same size as a light cube)
    # with a 30mm x 30mm Diamonds2 image on every face
    cube_obj = robot.world.define_custom_cube(CustomObjectTypes.CustomType00,
                                              CustomObjectMarkers.Diamonds2,
                                              44,
                                              30, 30, True)

    # define a unique cube (88mm x 88mm x 88mm) (approximately 2x the size of a light cube)
    # with a 50mm x 50mm Diamonds3 image on every face
    big_cube_obj = robot.world.define_custom_cube(CustomObjectTypes.CustomType01,
                                              CustomObjectMarkers.Diamonds3,
                                              88,
                                              50, 50, True)

    # define a unique wall (150mm x 120mm (x10mm thick for all walls)
    # with a 50mm x 30mm Circles2 image on front and back
    wall_obj = robot.world.define_custom_wall(CustomObjectTypes.CustomType02,
                                              CustomObjectMarkers.Circles2,
                                              150, 120,
                                              50, 30, True)

    # define a unique box (60mm deep x 140mm width x100mm tall)
    # with a different 30mm x 50mm image on each of the 6 faces
    box_obj = robot.world.define_custom_box(CustomObjectTypes.CustomType03,
                                            CustomObjectMarkers.Hexagons2,  # front
                                            CustomObjectMarkers.Circles3,   # back
                                            CustomObjectMarkers.Circles4,   # top
                                            CustomObjectMarkers.Circles5,   # bottom
                                            CustomObjectMarkers.Triangles2, # left
                                            CustomObjectMarkers.Triangles3, # right
                                            60, 140, 100,
                                            30, 50, True)

    if ((cube_obj is not None) and (big_cube_obj is not None) and
            (wall_obj is not None) and (box_obj is not None)):
        print("All objects defined successfully!")
    else:
        print("One or more object definitions failed!")
        return

    print("Show the above markers to Cozmo and you will see the related objects "
          "annotated in Cozmo's view window, you will also see print messages "
          "everytime a custom object enters or exits Cozmo's view.")

    print("Press CTRL-C to quit")
    while True:
        time.sleep(0.1)


cozmo.run_program(custom_objects, use_3d_viewer=True, use_viewer=True)

10. object moving

檢測移動立方體並實時跟蹤其速度等。

import time

import cozmo


def handle_object_moving_started(evt, **kw):
    # This will be called whenever an EvtObjectMovingStarted event is dispatched -
    # whenever we detect a cube starts moving (via an accelerometer in the cube)
    print("Object %s started moving: acceleration=%s" %
          (evt.obj.object_id, evt.acceleration))


def handle_object_moving(evt, **kw):
    # This will be called whenever an EvtObjectMoving event is dispatched -
    # whenever we detect a cube is still moving a (via an accelerometer in the cube)
    print("Object %s is moving: acceleration=%s, duration=%.1f seconds" %
          (evt.obj.object_id, evt.acceleration, evt.move_duration))


def handle_object_moving_stopped(evt, **kw):
    # This will be called whenever an EvtObjectMovingStopped event is dispatched -
    # whenever we detect a cube stopped moving (via an accelerometer in the cube)
    print("Object %s stopped moving: duration=%.1f seconds" %
          (evt.obj.object_id, evt.move_duration))


def cozmo_program(robot: cozmo.robot.Robot):
    # Add event handlers that will be called for the corresponding event
    robot.add_event_handler(cozmo.objects.EvtObjectMovingStarted, handle_object_moving_started)
    robot.add_event_handler(cozmo.objects.EvtObjectMoving, handle_object_moving)
    robot.add_event_handler(cozmo.objects.EvtObjectMovingStopped, handle_object_moving_stopped)

    # keep the program running until user closes / quits it
    print("Press CTRL-C to quit")
    while True:
        time.sleep(1.0)


cozmo.robot.Robot.drive_off_charger_on_connect = False  # Cozmo can stay on his charger for this example
cozmo.run_program(cozmo_program)

11. dock with cube

行駛到立方體附近，並對接立方體，但是並不拿起立方體。

import cozmo
from cozmo.util import degrees

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)

cozmo.run_program(dock_with_cube)

12. roll cube

翻滾立方體。

import cozmo
from cozmo.util import degrees

async def roll_a_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 roll with it:")
    # Cozmo will approach the cube he has seen and roll it
    # check_for_object_on_top=True enforces that Cozmo will not roll cubes with anything on top
    action = robot.roll_cube(cube, check_for_object_on_top=True, num_retries=2)
    await action.wait_for_completed()
    print("result:", action.result)

cozmo.run_program(roll_a_cube)

13. pop a wheelie

藉助立方體，將Cozmo身體直立起來。

import cozmo

async def pop_a_wheelie(robot: cozmo.robot.Robot):
    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 pop a wheelie on it")

    action = robot.pop_a_wheelie(cube, num_retries=2)
    await action.wait_for_completed()


cozmo.run_program(pop_a_wheelie)

Fin

Cozmo人工智慧機器人SDK使用筆記（4）-任務部分cubes_and_objects

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