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@erica /1_Cozmo.py
Last active Mar 18, 2017

import sys
from enum import *
import cozmo
from cozmo.util import degrees
from Triggers import *
# Log Error
def error(message):
print("*********************ERROR:", message)
# Enumerations
class Direction(IntEnum):
'''Driving direction.'''
forward = 1
backward = -1
class Speed(IntEnum):
'''Driving speed.'''
normal = 1
fast = 2
# Cubes
cube1ID = cozmo.objects.LightCube1Id # paperclip
cube2ID = cozmo.objects.LightCube2Id # lamp
cube3ID = cozmo.objects.LightCube3Id # dot
cubeIDs = [cube1ID, cube2ID, cube3ID] # [1, 2, 3]
# Colors
def lightLevel(level):
return int(level * 255.0)
def lightColor(r: float, g: float, b: float):
return cozmo.lights.Color(rgb=(lightLevel(r),
lightLevel(g), lightLevel(b)))
def light(color):
return cozmo.lights.Light(color)
class Cube:
def __init__(self, cube):
self.cube = cube
def setColor(self, color):
self.cube.set_lights(light(color))
def switchOff(self):
self.cube.set_lights(cozmo.lights.off_light)
def waitForTap(self, seconds = 3):
try:
self.cube.wait_for_tap(timeout = seconds)
return True
except:
print("cube tap timed out")
return False
class Cozmo:
def __init__(self, robot):
self.robot = robot
self.world = robot.world
self.behaviors = cozmo.behavior.BehaviorTypes
self.currentBehavior = "idle"
self.activeCube = "no cube"
self.cubes = []
@classmethod
def startUp(self, mainFunction):
'''Initialize basic logging and make connection'''
cozmo.setup_basic_logging()
try:
cozmo.connect(mainFunction)
except cozmo.ConnectionError as err:
sys.exit("Connection error: %s" % err)
@classmethod
def robot(self, sdk_conn):
'''Fetch robot instance'''
return Cozmo(sdk_conn.wait_for_robot())
def cube(self, idx):
return Cube(self.robot.world.light_cubes.get(cubeIDs[idx]))
def say(self, text):
'''Instruct cozmo to speak text.'''
speak = self.robot.say_text(text)
speak.wait_for_completed()
def drive(self,
time = 3,
direction: Direction = Direction.forward,
speed: Speed = Speed.normal):
'''Drive cozmo for `time` seconds in `direction` at `speed`'''
goSpeed = float(direction) * float(speed) * 50
self.robot.drive_wheels(goSpeed, goSpeed, duration = time)
def turn(self, degrees = 180):
'''Turn cozmo for n degrees'''
rotation = self.robot.turn_in_place(cozmo.util.degrees(degrees))
rotation.wait_for_completed()
# Behaviors
def stopBehavior(self):
if self.currentBehavior == "idle":
return
self.currentBehavior.stop()
self.currentBehavior = "idle"
def findFaces(self):
self.currentBehavior = self.robot.start_behavior(self.behaviors.FindFaces)
def knockOverCubes(self):
self.currentBehavior = self.robot.start_behavior(self.behaviors.KnockOverCubes)
def lookAroundInPlace(self):
self.currentBehavior = self.robot.start_behavior(self.behaviors.LookAroundInPlace)
def pounceOnMotion(self):
self.currentBehavior = self.robot.start_behavior(self.behaviors.PounceOnMotion)
def rollBlock(self):
self.currentBehavior = self.robot.start_behavior(self.behaviors.RollBlock)
def stackBlocks(self):
self.currentBehavior = self.robot.start_behavior(self.behaviors.StackBlocks)
def findACube(self):
self.lookAroundInPlace()
try:
cube = self.robot.world.wait_for_observed_light_cube(timeout=30)
self.stopBehavior()
self.activeCube = cube
self.cubes = [cube]
return True
except:
self.activeCube = "no cube"
self.cubes = []
self.stopBehavior()
return False
def findCubes(self, count):
self.lookAroundInPlace()
self.cubes = self.robot.world.wait_until_observe_num_objects(num=count, object_type=cozmo.objects.LightCube, timeout=60)
self.stopBehavior()
return self.cubes
def countCubes(self):
count = len(self.cubes)
responses = { 0 : "No cubes", 1 : "One cube", 2 : "Two cubes", 3 : "Three Cubes" }
response = responses[count]
self.say(response)
def pickupCube(idx):
if idx < len(self.cubes):
self.robot.pickup_object(self.cubes[idx]).wait_for_completed()
else:
error("Bad cube idx " + str(idx))
def takeCube(self):
if self.activeCube == "no cube":
error("No cube")
self.say("No cube")
self.robot.pickup_object(self.activeCube).wait_for_completed()
def dropCube(self):
if self.activeCube == "no cube":
error("No cube")
self.say("No cube")
self.robot.place_object_on_ground_here(self.activeCube).wait_for_completed()
# Triggered Animations
def trigger(self, triggerName):
if triggerName in triggerActions:
theTrigger = getTrigger(triggerName)
try:
anim = self.robot.play_anim_trigger(theTrigger)
anim.wait_for_completed()
except:
error("problem during anim")
def celebrate(self):
self.trigger("MajorWin")
from Cozmo import *
# Fire Engine Red (FF0E00, [255, 14, 0], [1.00, 0.06, 0.00])
colorRed = lightColor(1.0000, 0.0561, 0.0000)
# Tangerine (FF8D00, [255, 141, 0], [1.00, 0.56, 0.00])
colorOrange = lightColor(1.0000, 0.5561, 0.0000)
# Bright Yellow (F0FF00, [240, 255, 0], [0.94, 1.00, 0.00])
colorYellow = lightColor(0.9439, 1.0000, 0.0000)
# Bright Lime Green (71FF00, [113, 255, 0], [0.44, 1.00, 0.00])
colorLime = lightColor(0.4439, 1.0000, 0.0000)
# Bright Green (00FF0E, [0, 255, 14], [0.00, 1.00, 0.06])
colorGreen = lightColor(0.0000, 1.0000, 0.0561)
# Turquoise Green (00FF8D, [0, 255, 141], [0.00, 1.00, 0.56])
colorTurquoise = lightColor(0.0000, 1.0000, 0.5561)
# Cyan (00F0FF, [0, 240, 255], [0.00, 0.94, 1.00])
colorCyan = lightColor(0.0000, 0.9439, 1.0000)
# Bright Blue (0071FF, [0, 113, 255], [0.00, 0.44, 1.00])
colorBlue = lightColor(0.0000, 0.4439, 1.0000)
# Primary Blue (0E00FF, [14, 0, 255], [0.06, 0.00, 1.00])
colorPurpleBlue = lightColor(0.0561, 0.0000, 1.0000)
# Vivid Purple (8D00FF, [141, 0, 255], [0.56, 0.00, 1.00])
colorPurple = lightColor(0.5561, 0.0000, 1.0000)
# Bright Magenta (FF00F0, [255, 0, 240], [1.00, 0.00, 0.94])
colorMagenta = lightColor(1.0000, 0.0000, 0.9439)
# Strong Pink (FF0071, [255, 0, 113], [1.00, 0.00, 0.44])
colorPink = lightColor(1.0000, 0.0000, 0.4439)
from Cozmo import *
# print(dir(cozmo.anim.Triggers))
# This list must be updated with each SDK release
triggerActions = {"AcknowledgeFaceInitPause" : cozmo.anim.Triggers.AcknowledgeFaceInitPause,
"AcknowledgeFaceNamed" : cozmo.anim.Triggers.AcknowledgeFaceNamed,
"AcknowledgeFaceUnnamed" : cozmo.anim.Triggers.AcknowledgeFaceUnnamed,
"AcknowledgeObject" : cozmo.anim.Triggers.AcknowledgeObject,
"AskToBeRightedLeft" : cozmo.anim.Triggers.AskToBeRightedLeft,
"AskToBeRightedRight" : cozmo.anim.Triggers.AskToBeRightedRight,
"BlockReact" : cozmo.anim.Triggers.BlockReact,
"BuildPyramidReactToBase" : cozmo.anim.Triggers.BuildPyramidReactToBase,
"BuildPyramidSuccess" : cozmo.anim.Triggers.BuildPyramidSuccess,
"CantHandleTallStack" : cozmo.anim.Triggers.CantHandleTallStack,
"ConnectWakeUp" : cozmo.anim.Triggers.ConnectWakeUp,
"Count" : cozmo.anim.Triggers.Count,
"CozmoSaysBadWord" : cozmo.anim.Triggers.CozmoSaysBadWord,
"CozmoSaysGetIn" : cozmo.anim.Triggers.CozmoSaysGetIn,
"CozmoSaysGetOut" : cozmo.anim.Triggers.CozmoSaysGetOut,
"CozmoSaysIdle" : cozmo.anim.Triggers.CozmoSaysIdle,
"CozmoSaysSpeakGetInLong" : cozmo.anim.Triggers.CozmoSaysSpeakGetInLong,
"CozmoSaysSpeakGetInMedium" : cozmo.anim.Triggers.CozmoSaysSpeakGetInMedium,
"CozmoSaysSpeakGetInShort" : cozmo.anim.Triggers.CozmoSaysSpeakGetInShort,
"CozmoSaysSpeakGetOutLong" : cozmo.anim.Triggers.CozmoSaysSpeakGetOutLong,
"CozmoSaysSpeakGetOutMedium" : cozmo.anim.Triggers.CozmoSaysSpeakGetOutMedium,
"CozmoSaysSpeakGetOutShort" : cozmo.anim.Triggers.CozmoSaysSpeakGetOutShort,
"CozmoSaysSpeakLoop" : cozmo.anim.Triggers.CozmoSaysSpeakLoop,
"CubeMovedSense" : cozmo.anim.Triggers.CubeMovedSense,
"CubeMovedUpset" : cozmo.anim.Triggers.CubeMovedUpset,
"CubePounceFake" : cozmo.anim.Triggers.CubePounceFake,
"CubePounceGetIn" : cozmo.anim.Triggers.CubePounceGetIn,
"CubePounceGetOut" : cozmo.anim.Triggers.CubePounceGetOut,
"CubePounceGetReady" : cozmo.anim.Triggers.CubePounceGetReady,
"CubePounceGetUnready" : cozmo.anim.Triggers.CubePounceGetUnready,
"CubePounceIdleLiftDown" : cozmo.anim.Triggers.CubePounceIdleLiftDown,
"CubePounceIdleLiftUp" : cozmo.anim.Triggers.CubePounceIdleLiftUp,
"CubePounceLoseHand" : cozmo.anim.Triggers.CubePounceLoseHand,
"CubePounceLoseRound" : cozmo.anim.Triggers.CubePounceLoseRound,
"CubePounceLoseSession" : cozmo.anim.Triggers.CubePounceLoseSession,
"CubePouncePounceClose" : cozmo.anim.Triggers.CubePouncePounceClose,
"CubePouncePounceNormal" : cozmo.anim.Triggers.CubePouncePounceNormal,
"CubePounceWinHand" : cozmo.anim.Triggers.CubePounceWinHand,
"CubePounceWinRound" : cozmo.anim.Triggers.CubePounceWinRound,
"CubePounceWinSession" : cozmo.anim.Triggers.CubePounceWinSession,
"DriveEndAngry" : cozmo.anim.Triggers.DriveEndAngry,
"DriveEndDefault" : cozmo.anim.Triggers.DriveEndDefault,
"DriveEndLaunch" : cozmo.anim.Triggers.DriveEndLaunch,
"DriveLoopAngry" : cozmo.anim.Triggers.DriveLoopAngry,
"DriveLoopDefault" : cozmo.anim.Triggers.DriveLoopDefault,
"DriveLoopLaunch" : cozmo.anim.Triggers.DriveLoopLaunch,
"DriveStartAngry" : cozmo.anim.Triggers.DriveStartAngry,
"DriveStartDefault" : cozmo.anim.Triggers.DriveStartDefault,
"DriveStartLaunch" : cozmo.anim.Triggers.DriveStartLaunch,
"DroneModeBackwardDrivingEnd" : cozmo.anim.Triggers.DroneModeBackwardDrivingEnd,
"DroneModeBackwardDrivingLoop" : cozmo.anim.Triggers.DroneModeBackwardDrivingLoop,
"DroneModeBackwardDrivingStart" : cozmo.anim.Triggers.DroneModeBackwardDrivingStart,
"DroneModeCliffEvent" : cozmo.anim.Triggers.DroneModeCliffEvent,
"DroneModeForwardDrivingEnd" : cozmo.anim.Triggers.DroneModeForwardDrivingEnd,
"DroneModeForwardDrivingLoop" : cozmo.anim.Triggers.DroneModeForwardDrivingLoop,
"DroneModeForwardDrivingStart" : cozmo.anim.Triggers.DroneModeForwardDrivingStart,
"DroneModeGetIn" : cozmo.anim.Triggers.DroneModeGetIn,
"DroneModeGetOut" : cozmo.anim.Triggers.DroneModeGetOut,
"DroneModeIdle" : cozmo.anim.Triggers.DroneModeIdle,
"DroneModeKeepAlive" : cozmo.anim.Triggers.DroneModeKeepAlive,
"DroneModeTurboDrivingStart" : cozmo.anim.Triggers.DroneModeTurboDrivingStart,
"FacePlantRoll" : cozmo.anim.Triggers.FacePlantRoll,
"FacePlantRollArmUp" : cozmo.anim.Triggers.FacePlantRollArmUp,
"FailedToRightFromFace" : cozmo.anim.Triggers.FailedToRightFromFace,
"FlipDownFromBack" : cozmo.anim.Triggers.FlipDownFromBack,
"FrustratedByFailure" : cozmo.anim.Triggers.FrustratedByFailure,
"FrustratedByFailureMajor" : cozmo.anim.Triggers.FrustratedByFailureMajor,
"GoToSleepGetIn" : cozmo.anim.Triggers.GoToSleepGetIn,
"GoToSleepGetOut" : cozmo.anim.Triggers.GoToSleepGetOut,
"GoToSleepOff" : cozmo.anim.Triggers.GoToSleepOff,
"GoToSleepSleeping" : cozmo.anim.Triggers.GoToSleepSleeping,
"HikingDrivingEnd" : cozmo.anim.Triggers.HikingDrivingEnd,
"HikingDrivingLoop" : cozmo.anim.Triggers.HikingDrivingLoop,
"HikingDrivingStart" : cozmo.anim.Triggers.HikingDrivingStart,
"HikingInterestingEdgeThought" : cozmo.anim.Triggers.HikingInterestingEdgeThought,
"HikingIntro" : cozmo.anim.Triggers.HikingIntro,
"HikingLookAround" : cozmo.anim.Triggers.HikingLookAround,
"HikingObserve" : cozmo.anim.Triggers.HikingObserve,
"HikingReactToEdge" : cozmo.anim.Triggers.HikingReactToEdge,
"HikingReactToNewArea" : cozmo.anim.Triggers.HikingReactToNewArea,
"HikingReactToPossibleMarker" : cozmo.anim.Triggers.HikingReactToPossibleMarker,
"HikingSquintEnd" : cozmo.anim.Triggers.HikingSquintEnd,
"HikingSquintLoop" : cozmo.anim.Triggers.HikingSquintLoop,
"HikingSquintStart" : cozmo.anim.Triggers.HikingSquintStart,
"HikingWakeUpOffCharger" : cozmo.anim.Triggers.HikingWakeUpOffCharger,
"IdleOnCharger" : cozmo.anim.Triggers.IdleOnCharger,
"InteractWithFaceTrackingIdle" : cozmo.anim.Triggers.InteractWithFaceTrackingIdle,
"InteractWithFacesInitialNamed" : cozmo.anim.Triggers.InteractWithFacesInitialNamed,
"InteractWithFacesInitialUnnamed" : cozmo.anim.Triggers.InteractWithFacesInitialUnnamed,
"KnockOverEyes" : cozmo.anim.Triggers.KnockOverEyes,
"KnockOverFailure" : cozmo.anim.Triggers.KnockOverFailure,
"KnockOverGrabAttempt" : cozmo.anim.Triggers.KnockOverGrabAttempt,
"KnockOverPreActionNamedFace" : cozmo.anim.Triggers.KnockOverPreActionNamedFace,
"KnockOverPreActionUnnamedFace" : cozmo.anim.Triggers.KnockOverPreActionUnnamedFace,
"KnockOverSuccess" : cozmo.anim.Triggers.KnockOverSuccess,
"LookInPlaceForFacesBodyPause" : cozmo.anim.Triggers.LookInPlaceForFacesBodyPause,
"LookInPlaceForFacesHeadMovePause" : cozmo.anim.Triggers.LookInPlaceForFacesHeadMovePause,
"MajorFail" : cozmo.anim.Triggers.MajorFail,
"MajorWin" : cozmo.anim.Triggers.MajorWin,
"MeetCozmoFirstEnrollmentCelebration" : cozmo.anim.Triggers.MeetCozmoFirstEnrollmentCelebration,
"MeetCozmoFirstEnrollmentRepeatName" : cozmo.anim.Triggers.MeetCozmoFirstEnrollmentRepeatName,
"MeetCozmoFirstEnrollmentSayName" : cozmo.anim.Triggers.MeetCozmoFirstEnrollmentSayName,
"MeetCozmoGetIn" : cozmo.anim.Triggers.MeetCozmoGetIn,
"MeetCozmoLookFaceGetIn" : cozmo.anim.Triggers.MeetCozmoLookFaceGetIn,
"MeetCozmoLookFaceGetOut" : cozmo.anim.Triggers.MeetCozmoLookFaceGetOut,
"MeetCozmoLookFaceInterrupt" : cozmo.anim.Triggers.MeetCozmoLookFaceInterrupt,
"MeetCozmoReEnrollmentSayName" : cozmo.anim.Triggers.MeetCozmoReEnrollmentSayName,
"MeetCozmoRenameFaceSayName" : cozmo.anim.Triggers.MeetCozmoRenameFaceSayName,
"MeetCozmoScanningIdle" : cozmo.anim.Triggers.MeetCozmoScanningIdle,
"MemoryMatchCozmoGetOut" : cozmo.anim.Triggers.MemoryMatchCozmoGetOut,
"MemoryMatchCozmoLoseHand" : cozmo.anim.Triggers.MemoryMatchCozmoLoseHand,
"MemoryMatchCozmoWinGame" : cozmo.anim.Triggers.MemoryMatchCozmoWinGame,
"MemoryMatchCozmoWinHand" : cozmo.anim.Triggers.MemoryMatchCozmoWinHand,
"MemoryMatchPlayerLoseHand" : cozmo.anim.Triggers.MemoryMatchPlayerLoseHand,
"MemoryMatchPlayerLoseHandSolo" : cozmo.anim.Triggers.MemoryMatchPlayerLoseHandSolo,
"MemoryMatchPlayerWinGame" : cozmo.anim.Triggers.MemoryMatchPlayerWinGame,
"MemoryMatchPlayerWinHand" : cozmo.anim.Triggers.MemoryMatchPlayerWinHand,
"MemoryMatchPlayerWinHandLong" : cozmo.anim.Triggers.MemoryMatchPlayerWinHandLong,
"MemoryMatchPlayerWinHandSolo" : cozmo.anim.Triggers.MemoryMatchPlayerWinHandSolo,
"MemoryMatchPointCenter" : cozmo.anim.Triggers.MemoryMatchPointCenter,
"MemoryMatchPointCenterFast" : cozmo.anim.Triggers.MemoryMatchPointCenterFast,
"MemoryMatchPointLeftBig" : cozmo.anim.Triggers.MemoryMatchPointLeftBig,
"MemoryMatchPointLeftBigFast" : cozmo.anim.Triggers.MemoryMatchPointLeftBigFast,
"MemoryMatchPointLeftSmall" : cozmo.anim.Triggers.MemoryMatchPointLeftSmall,
"MemoryMatchPointLeftSmallFast" : cozmo.anim.Triggers.MemoryMatchPointLeftSmallFast,
"MemoryMatchPointRightBig" : cozmo.anim.Triggers.MemoryMatchPointRightBig,
"MemoryMatchPointRightBigFast" : cozmo.anim.Triggers.MemoryMatchPointRightBigFast,
"MemoryMatchPointRightSmall" : cozmo.anim.Triggers.MemoryMatchPointRightSmall,
"MemoryMatchPointRightSmallFast" : cozmo.anim.Triggers.MemoryMatchPointRightSmallFast,
"MemoryMatchReactToPattern" : cozmo.anim.Triggers.MemoryMatchReactToPattern,
"MemoryMatchReactToPatternSolo" : cozmo.anim.Triggers.MemoryMatchReactToPatternSolo,
"MemoryMatchSoloGameOver" : cozmo.anim.Triggers.MemoryMatchSoloGameOver,
"NamedFaceInitialGreeting" : cozmo.anim.Triggers.NamedFaceInitialGreeting,
"NeutralFace" : cozmo.anim.Triggers.NeutralFace,
"NothingToDoBoredEvent" : cozmo.anim.Triggers.NothingToDoBoredEvent,
"NothingToDoBoredIdle" : cozmo.anim.Triggers.NothingToDoBoredIdle,
"NothingToDoBoredIntro" : cozmo.anim.Triggers.NothingToDoBoredIntro,
"NothingToDoBoredOutro" : cozmo.anim.Triggers.NothingToDoBoredOutro,
"OnLearnedPlayerName" : cozmo.anim.Triggers.OnLearnedPlayerName,
"OnSawNewNamedFace" : cozmo.anim.Triggers.OnSawNewNamedFace,
"OnSawNewUnnamedFace" : cozmo.anim.Triggers.OnSawNewUnnamedFace,
"OnSawOldNamedFace" : cozmo.anim.Triggers.OnSawOldNamedFace,
"OnSawOldUnnamedFace" : cozmo.anim.Triggers.OnSawOldUnnamedFace,
"OnSpeedtapCozmoConfirm" : cozmo.anim.Triggers.OnSpeedtapCozmoConfirm,
"OnSpeedtapFakeout" : cozmo.anim.Triggers.OnSpeedtapFakeout,
"OnSpeedtapGameCozmoWinHighIntensity" : cozmo.anim.Triggers.OnSpeedtapGameCozmoWinHighIntensity,
"OnSpeedtapGameCozmoWinLowIntensity" : cozmo.anim.Triggers.OnSpeedtapGameCozmoWinLowIntensity,
"OnSpeedtapGamePlayerWinHighIntensity" : cozmo.anim.Triggers.OnSpeedtapGamePlayerWinHighIntensity,
"OnSpeedtapGamePlayerWinLowIntensity" : cozmo.anim.Triggers.OnSpeedtapGamePlayerWinLowIntensity,
"OnSpeedtapGetOut" : cozmo.anim.Triggers.OnSpeedtapGetOut,
"OnSpeedtapHandCozmoWin" : cozmo.anim.Triggers.OnSpeedtapHandCozmoWin,
"OnSpeedtapHandPlayerWin" : cozmo.anim.Triggers.OnSpeedtapHandPlayerWin,
"OnSpeedtapIdle" : cozmo.anim.Triggers.OnSpeedtapIdle,
"OnSpeedtapRoundCozmoWinHighIntensity" : cozmo.anim.Triggers.OnSpeedtapRoundCozmoWinHighIntensity,
"OnSpeedtapRoundCozmoWinLowIntensity" : cozmo.anim.Triggers.OnSpeedtapRoundCozmoWinLowIntensity,
"OnSpeedtapRoundPlayerWinHighIntensity" : cozmo.anim.Triggers.OnSpeedtapRoundPlayerWinHighIntensity,
"OnSpeedtapRoundPlayerWinLowIntensity" : cozmo.anim.Triggers.OnSpeedtapRoundPlayerWinLowIntensity,
"OnSpeedtapTap" : cozmo.anim.Triggers.OnSpeedtapTap,
"OnWaitForCubesMinigameSetup" : cozmo.anim.Triggers.OnWaitForCubesMinigameSetup,
"OnWiggle" : cozmo.anim.Triggers.OnWiggle,
"OnboardingBirth" : cozmo.anim.Triggers.OnboardingBirth,
"OnboardingCubeDockFail" : cozmo.anim.Triggers.OnboardingCubeDockFail,
"OnboardingDiscoverCube" : cozmo.anim.Triggers.OnboardingDiscoverCube,
"OnboardingDriveEnd" : cozmo.anim.Triggers.OnboardingDriveEnd,
"OnboardingDriveLoop" : cozmo.anim.Triggers.OnboardingDriveLoop,
"OnboardingDriveStart" : cozmo.anim.Triggers.OnboardingDriveStart,
"OnboardingEyesOn" : cozmo.anim.Triggers.OnboardingEyesOn,
"OnboardingGetOut" : cozmo.anim.Triggers.OnboardingGetOut,
"OnboardingHelloPlayer" : cozmo.anim.Triggers.OnboardingHelloPlayer,
"OnboardingHelloWorld" : cozmo.anim.Triggers.OnboardingHelloWorld,
"OnboardingIdle" : cozmo.anim.Triggers.OnboardingIdle,
"OnboardingInteractWithCube" : cozmo.anim.Triggers.OnboardingInteractWithCube,
"OnboardingPreBirth" : cozmo.anim.Triggers.OnboardingPreBirth,
"OnboardingReactToCube" : cozmo.anim.Triggers.OnboardingReactToCube,
"OnboardingReactToCubePutDown" : cozmo.anim.Triggers.OnboardingReactToCubePutDown,
"OnboardingReactToFace" : cozmo.anim.Triggers.OnboardingReactToFace,
"OnboardingSoundOnlyLiftEffortPickup" : cozmo.anim.Triggers.OnboardingSoundOnlyLiftEffortPickup,
"OnboardingSoundOnlyLiftEffortPlaceLow" : cozmo.anim.Triggers.OnboardingSoundOnlyLiftEffortPlaceLow,
"PatternGuessNewIdea" : cozmo.anim.Triggers.PatternGuessNewIdea,
"PatternGuessThinking" : cozmo.anim.Triggers.PatternGuessThinking,
"PetDetectionCat" : cozmo.anim.Triggers.PetDetectionCat,
"PetDetectionDog" : cozmo.anim.Triggers.PetDetectionDog,
"PetDetectionShort" : cozmo.anim.Triggers.PetDetectionShort,
"PetDetectionShort_Cat" : cozmo.anim.Triggers.PetDetectionShort_Cat,
"PetDetectionShort_Dog" : cozmo.anim.Triggers.PetDetectionShort_Dog,
"PetDetectionSneeze" : cozmo.anim.Triggers.PetDetectionSneeze,
"PlacedOnCharger" : cozmo.anim.Triggers.PlacedOnCharger,
"PopAWheelieInitial" : cozmo.anim.Triggers.PopAWheelieInitial,
"PopAWheeliePreActionNamedFace" : cozmo.anim.Triggers.PopAWheeliePreActionNamedFace,
"PopAWheeliePreActionUnnamedFace" : cozmo.anim.Triggers.PopAWheeliePreActionUnnamedFace,
"PopAWheelieRealign" : cozmo.anim.Triggers.PopAWheelieRealign,
"PopAWheelieRetry" : cozmo.anim.Triggers.PopAWheelieRetry,
"PounceDriveEnd" : cozmo.anim.Triggers.PounceDriveEnd,
"PounceDriveLoop" : cozmo.anim.Triggers.PounceDriveLoop,
"PounceDriveStart" : cozmo.anim.Triggers.PounceDriveStart,
"PounceFace" : cozmo.anim.Triggers.PounceFace,
"PounceFail" : cozmo.anim.Triggers.PounceFail,
"PounceGetOut" : cozmo.anim.Triggers.PounceGetOut,
"PounceInitial" : cozmo.anim.Triggers.PounceInitial,
"PouncePounce" : cozmo.anim.Triggers.PouncePounce,
"PounceSuccess" : cozmo.anim.Triggers.PounceSuccess,
"ProceduralLive" : cozmo.anim.Triggers.ProceduralLive,
"PutDownBlockKeepAlive" : cozmo.anim.Triggers.PutDownBlockKeepAlive,
"PutDownBlockPutDown" : cozmo.anim.Triggers.PutDownBlockPutDown,
"ReactToBlockPickupSuccess" : cozmo.anim.Triggers.ReactToBlockPickupSuccess,
"ReactToBlockRetryPickup" : cozmo.anim.Triggers.ReactToBlockRetryPickup,
"ReactToCliff" : cozmo.anim.Triggers.ReactToCliff,
"ReactToCliffDetectorStop" : cozmo.anim.Triggers.ReactToCliffDetectorStop,
"ReactToMotorCalibration" : cozmo.anim.Triggers.ReactToMotorCalibration,
"ReactToNewBlockAsk" : cozmo.anim.Triggers.ReactToNewBlockAsk,
"ReactToNewBlockBig" : cozmo.anim.Triggers.ReactToNewBlockBig,
"ReactToNewBlockSmall" : cozmo.anim.Triggers.ReactToNewBlockSmall,
"ReactToOnLeftSide" : cozmo.anim.Triggers.ReactToOnLeftSide,
"ReactToOnRightSide" : cozmo.anim.Triggers.ReactToOnRightSide,
"ReactToPickup" : cozmo.anim.Triggers.ReactToPickup,
"ReactToPokeReaction" : cozmo.anim.Triggers.ReactToPokeReaction,
"ReactToPokeStartled" : cozmo.anim.Triggers.ReactToPokeStartled,
"ReactToUnexpectedMovement" : cozmo.anim.Triggers.ReactToUnexpectedMovement,
"RequestGameDrivingFail" : cozmo.anim.Triggers.RequestGameDrivingFail,
"RequestGameKeepAwayAccept0" : cozmo.anim.Triggers.RequestGameKeepAwayAccept0,
"RequestGameKeepAwayAccept1" : cozmo.anim.Triggers.RequestGameKeepAwayAccept1,
"RequestGameKeepAwayDeny0" : cozmo.anim.Triggers.RequestGameKeepAwayDeny0,
"RequestGameKeepAwayDeny1" : cozmo.anim.Triggers.RequestGameKeepAwayDeny1,
"RequestGameKeepAwayIdle0" : cozmo.anim.Triggers.RequestGameKeepAwayIdle0,
"RequestGameKeepAwayIdle1" : cozmo.anim.Triggers.RequestGameKeepAwayIdle1,
"RequestGameKeepAwayInitial0" : cozmo.anim.Triggers.RequestGameKeepAwayInitial0,
"RequestGameKeepAwayInitial1" : cozmo.anim.Triggers.RequestGameKeepAwayInitial1,
"RequestGameKeepAwayPreDrive0" : cozmo.anim.Triggers.RequestGameKeepAwayPreDrive0,
"RequestGameKeepAwayPreDrive1" : cozmo.anim.Triggers.RequestGameKeepAwayPreDrive1,
"RequestGameKeepAwayRequest0" : cozmo.anim.Triggers.RequestGameKeepAwayRequest0,
"RequestGameKeepAwayRequest1" : cozmo.anim.Triggers.RequestGameKeepAwayRequest1,
"RequestGameMemoryMatchAccept0" : cozmo.anim.Triggers.RequestGameMemoryMatchAccept0,
"RequestGameMemoryMatchAccept1" : cozmo.anim.Triggers.RequestGameMemoryMatchAccept1,
"RequestGameMemoryMatchDeny0" : cozmo.anim.Triggers.RequestGameMemoryMatchDeny0,
"RequestGameMemoryMatchDeny1" : cozmo.anim.Triggers.RequestGameMemoryMatchDeny1,
"RequestGameMemoryMatchIdle0" : cozmo.anim.Triggers.RequestGameMemoryMatchIdle0,
"RequestGameMemoryMatchIdle1" : cozmo.anim.Triggers.RequestGameMemoryMatchIdle1,
"RequestGameMemoryMatchInitial0" : cozmo.anim.Triggers.RequestGameMemoryMatchInitial0,
"RequestGameMemoryMatchInitial1" : cozmo.anim.Triggers.RequestGameMemoryMatchInitial1,
"RequestGameMemoryMatchPreDrive0" : cozmo.anim.Triggers.RequestGameMemoryMatchPreDrive0,
"RequestGameMemoryMatchPreDrive1" : cozmo.anim.Triggers.RequestGameMemoryMatchPreDrive1,
"RequestGameMemoryMatchRequest0" : cozmo.anim.Triggers.RequestGameMemoryMatchRequest0,
"RequestGameMemoryMatchRequest1" : cozmo.anim.Triggers.RequestGameMemoryMatchRequest1,
"RequestGamePickupFail" : cozmo.anim.Triggers.RequestGamePickupFail,
"RequestGameSpeedTapAccept0" : cozmo.anim.Triggers.RequestGameSpeedTapAccept0,
"RequestGameSpeedTapAccept1" : cozmo.anim.Triggers.RequestGameSpeedTapAccept1,
"RequestGameSpeedTapDeny0" : cozmo.anim.Triggers.RequestGameSpeedTapDeny0,
"RequestGameSpeedTapDeny1" : cozmo.anim.Triggers.RequestGameSpeedTapDeny1,
"RequestGameSpeedTapIdle0" : cozmo.anim.Triggers.RequestGameSpeedTapIdle0,
"RequestGameSpeedTapIdle1" : cozmo.anim.Triggers.RequestGameSpeedTapIdle1,
"RequestGameSpeedTapInitial0" : cozmo.anim.Triggers.RequestGameSpeedTapInitial0,
"RequestGameSpeedTapInitial1" : cozmo.anim.Triggers.RequestGameSpeedTapInitial1,
"RequestGameSpeedTapPreDrive0" : cozmo.anim.Triggers.RequestGameSpeedTapPreDrive0,
"RequestGameSpeedTapPreDrive1" : cozmo.anim.Triggers.RequestGameSpeedTapPreDrive1,
"RequestGameSpeedTapRequest0" : cozmo.anim.Triggers.RequestGameSpeedTapRequest0,
"RequestGameSpeedTapRequest1" : cozmo.anim.Triggers.RequestGameSpeedTapRequest1,
"RollBlockInitial" : cozmo.anim.Triggers.RollBlockInitial,
"RollBlockPreActionNamedFace" : cozmo.anim.Triggers.RollBlockPreActionNamedFace,
"RollBlockPreActionUnnamedFace" : cozmo.anim.Triggers.RollBlockPreActionUnnamedFace,
"RollBlockPutDown" : cozmo.anim.Triggers.RollBlockPutDown,
"RollBlockRealign" : cozmo.anim.Triggers.RollBlockRealign,
"RollBlockRetry" : cozmo.anim.Triggers.RollBlockRetry,
"RollBlockSuccess" : cozmo.anim.Triggers.RollBlockSuccess,
"SdkTextToSpeech" : cozmo.anim.Triggers.SdkTextToSpeech,
"Shiver" : cozmo.anim.Triggers.Shiver,
"Shocked" : cozmo.anim.Triggers.Shocked,
"Sleeping" : cozmo.anim.Triggers.Sleeping,
"SoftSparkUpgradeLift" : cozmo.anim.Triggers.SoftSparkUpgradeLift,
"SoftSparkUpgradeTracks" : cozmo.anim.Triggers.SoftSparkUpgradeTracks,
"SoundOnlyLiftEffortPickup" : cozmo.anim.Triggers.SoundOnlyLiftEffortPickup,
"SoundOnlyLiftEffortPlaceHigh" : cozmo.anim.Triggers.SoundOnlyLiftEffortPlaceHigh,
"SoundOnlyLiftEffortPlaceLow" : cozmo.anim.Triggers.SoundOnlyLiftEffortPlaceLow,
"SoundOnlyLiftEffortPlaceRoll" : cozmo.anim.Triggers.SoundOnlyLiftEffortPlaceRoll,
"SoundOnlyTurnSmall" : cozmo.anim.Triggers.SoundOnlyTurnSmall,
"SparkDrivingLoop" : cozmo.anim.Triggers.SparkDrivingLoop,
"SparkDrivingStart" : cozmo.anim.Triggers.SparkDrivingStart,
"SparkDrivingStop" : cozmo.anim.Triggers.SparkDrivingStop,
"SparkFailure" : cozmo.anim.Triggers.SparkFailure,
"SparkGetIn" : cozmo.anim.Triggers.SparkGetIn,
"SparkGetOut" : cozmo.anim.Triggers.SparkGetOut,
"SparkIdle" : cozmo.anim.Triggers.SparkIdle,
"SparkPickupFinalCubeReaction" : cozmo.anim.Triggers.SparkPickupFinalCubeReaction,
"SparkPickupInitialCubeReaction" : cozmo.anim.Triggers.SparkPickupInitialCubeReaction,
"SparkSuccess" : cozmo.anim.Triggers.SparkSuccess,
"SpeedTapDrivingEnd" : cozmo.anim.Triggers.SpeedTapDrivingEnd,
"SpeedTapDrivingLoop" : cozmo.anim.Triggers.SpeedTapDrivingLoop,
"SpeedTapDrivingStart" : cozmo.anim.Triggers.SpeedTapDrivingStart,
"StackBlocksPreActionNamedFace" : cozmo.anim.Triggers.StackBlocksPreActionNamedFace,
"StackBlocksPreActionUnnamedFace" : cozmo.anim.Triggers.StackBlocksPreActionUnnamedFace,
"StackBlocksRetry" : cozmo.anim.Triggers.StackBlocksRetry,
"StackBlocksSuccess" : cozmo.anim.Triggers.StackBlocksSuccess,
"StartSleeping" : cozmo.anim.Triggers.StartSleeping,
"SuccessfulWheelie" : cozmo.anim.Triggers.SuccessfulWheelie,
"Surprise" : cozmo.anim.Triggers.Surprise,
"TurtleRoll" : cozmo.anim.Triggers.TurtleRoll,
"UnitTestAnim" : cozmo.anim.Triggers.UnitTestAnim,
"WorkoutPickupRealign" : cozmo.anim.Triggers.WorkoutPickupRealign,
"WorkoutPickupRetry" : cozmo.anim.Triggers.WorkoutPickupRetry,
"WorkoutPostLift_highEnergy" : cozmo.anim.Triggers.WorkoutPostLift_highEnergy,
"WorkoutPostLift_lowEnergy" : cozmo.anim.Triggers.WorkoutPostLift_lowEnergy,
"WorkoutPostLift_mediumEnergy" : cozmo.anim.Triggers.WorkoutPostLift_mediumEnergy,
"WorkoutPreLift_highEnergy" : cozmo.anim.Triggers.WorkoutPreLift_highEnergy,
"WorkoutPreLift_lowEnergy" : cozmo.anim.Triggers.WorkoutPreLift_lowEnergy,
"WorkoutPreLift_mediumEnergy" : cozmo.anim.Triggers.WorkoutPreLift_mediumEnergy,
"WorkoutPutDown_highEnergy" : cozmo.anim.Triggers.WorkoutPutDown_highEnergy,
"WorkoutPutDown_lowEnergy" : cozmo.anim.Triggers.WorkoutPutDown_lowEnergy,
"WorkoutPutDown_lowEnergy_simple" : cozmo.anim.Triggers.WorkoutPutDown_lowEnergy_simple,
"WorkoutPutDown_mediumEnergy" : cozmo.anim.Triggers.WorkoutPutDown_mediumEnergy,
"WorkoutStrongLift_highEnergy" : cozmo.anim.Triggers.WorkoutStrongLift_highEnergy,
"WorkoutStrongLift_lowEnergy" : cozmo.anim.Triggers.WorkoutStrongLift_lowEnergy,
"WorkoutStrongLift_mediumEnergy" : cozmo.anim.Triggers.WorkoutStrongLift_mediumEnergy,
"WorkoutTransition_highEnergy" : cozmo.anim.Triggers.WorkoutTransition_highEnergy,
"WorkoutTransition_lowEnergy" : cozmo.anim.Triggers.WorkoutTransition_lowEnergy,
"WorkoutTransition_mediumEnergy" : cozmo.anim.Triggers.WorkoutTransition_mediumEnergy,
"WorkoutWeakLift_highEnergy" : cozmo.anim.Triggers.WorkoutWeakLift_highEnergy,
"WorkoutWeakLift_lowEnergy" : cozmo.anim.Triggers.WorkoutWeakLift_lowEnergy,
"WorkoutWeakLift_mediumEnergy" : cozmo.anim.Triggers.WorkoutWeakLift_mediumEnergy}
def lookupTrigger(name):
'''Returns list of case-insensitive matches to trigger name'''
results = []
for key in triggerActions:
if name.lower() in key.lower():
results.append(key)
return results
def getTrigger(name):
'''Returns trigger with exact name match or idle'''
return triggerActions.get(name, cozmo.anim.Triggers.OnboardingIdle)
@coachfitz

Erica,
This is really important work! Thank you so much for sharing! I have a Cozmo and I am trying to get my students (High School) to program it. Your thought on abstraction is spot on! I would love to talk to you more about it! Here is my email so maybe we can chat.

rfitzgerald@c-vusd.org

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